• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A work head (1) with two axes of rotation (C, A) for a five-axis machining center is described wherein a first axis of rotation (C) is rotated by a radial flux motor and a second axis of rotation (A) is by an axial flux motor Rotor ring (15) which carries permanent magnets (17) and between two stator rings (11, 13) which carry electrical windings (9), wherein the rotor ring (15) is fixedly connected to an electrospindle assembly (4).
    公开号:AT518741A2
    申请号:T50339/2017
    申请日:2017-04-26
    公开日:2017-12-15
    发明作者:
    申请人:Cms Spa；
    IPC主号:
    专利说明:

    The invention relates to a working head with two axes of rotation, in particular a working head comprising at least one electric spindle, for example, for various machining processes (milling, drilling, cutting, flanging, profiling, turning, polishing, etc.) of objects made of any workable material (For example, wood, wood materials, resins, composites, aluminum, PVC, steel, light alloys, etc.) is suitable.
    In particular, but not exclusively, the invention may usefully be used in the field of a numerical control machining center, particularly in a five controlled axis machining center, in which a working head with two axes of rotation contains the two axes of rotation of the machine carrying the electric spindle.
    The prior art includes the publication WO 2009/034030, which describes a working head with two axes of rotation and with a fork which rotates about a first axis, an electric spindle which lies between the two arms of the fork and which extends about a second axis a first direct drive electric motor for rotating the fork about the first axis, two second direct drive electric motors for rotating the electric spindle about the second axis, the rotor of the first motor being flanged directly to the fork, and the stator each the second motor is housed in a housing which is attached to the outer sides of the fork.
    The prior art is in need of improvement in view of some aspects. First, it is desirable to provide a working head with two axes of rotation in a relatively small size. It is also desirable to increase the efficiency of the drives for the working head with two axes of rotation. Another aspect that should be improved is the simplicity of the construction of the working head.
    The object of the invention is to overcome one or more of the above-mentioned limitations and disadvantages of the prior art.
    One advantage is that a working head with two axes of rotation is created in relatively small dimensions.
    One advantage is that a working head with two axes of rotation, which are provided with relatively high efficiency drives, is equipped.
    One advantage is that a working head with two axes of rotation, which are relatively simple constructed, is produced.
    One advantage is that it creates a working head suitable for a five-axis machining center.
    These purposes and advantages and others are all achieved with the working head according to one or more of the claims listed below.
    In one example, a working head having two axes of rotation includes a first axis of rotation that is rotated by a radial flux motor and a second axis of rotation that is rotated by an axial flux motor that includes at least one rotor ring that carries permanent magnets and is sandwiched between two stator rings carrying the electromagnetic coils, the rotor ring being fixedly connected to an electrospindle assembly.
    Short description of the drawing
    The invention may be better understood and appreciated with reference to the accompanying drawings, which illustrate some examples without limitation of the applications.
    Fig. 1 shows an elevational view of an example of a working head according to the invention.
    FIG. 2 shows a side view of the working head according to FIG. 1.
    3 shows the cross section III-III according to FIG. 2.
    FIG. 4 shows a cross-section of a torque motor used as a direct drive for the second axis (axis A) of the working head according to FIG. 1.
    Fig. 5 shows an elevational view of the engine of FIG. 4 in cross section.
    FIG. 6 shows a cross section of a torque motor which is used as a direct drive for the first axis (axis C) of the working head according to FIG.
    FIG. 7 shows a cross section of a further example of a torque motor which is used as a direct drive for at least one axis of the working head according to FIG. 1.
    Detailed description
    With reference to the above figures, numeral 1 indicates a working head for a numerically controlled machining center (not shown) in its entirety, in particular a working head 1 for machining workpieces made of wood, wood-based materials, aluminum, plastics, composite materials, etc. The numerically controlled For example, the machining center may include a center having five controlled machining axes X, Y, Z, C, A, where the three axes X, Y, Z are assigned to that part of the machining center that holds the working head 1 while the other two (rotary) Axes C and A are assigned to the working head 1.
    The working head 1 may in particular comprise holding means 2 intended for mounting on a moving part (not shown) of the machining center. This movable part may offer the possibility of controlled movement along the three (orthogonal) axes X, Y, Z. The retaining means 2 may, as in this case, comprise at least one housing with attachment means for the (detachable) connection to the moving part of the machining center.
    The working head 1 may in particular comprise a holder 3 which carries an electrospindle assembly 4. The electrospindle holder 3 can in turn be held by support means 2 again. The holder 3 may be adjustable with respect to its position to the support means 2 about at least a first axis of rotation C.
    As stated, the working head 1 may comprise an electrospindle tool carrier assembly 4 carried by an electrospindle holder 3. The electrospindle tool carrier assembly 4 may in particular comprise a spindle axis for rotating the tool carrier spindle. The spindle axis can be at least by the regulation about the first axis of rotation C and / or about a second axis of rotation A, which is transverse to the first axis of rotation C, pivotable.
    The support means 2 may carry first drive means (for example comprising a first electric motor 5) mounted to drive regulation of the electrospindle support 3 about the first axis of rotation C. The electrospindle holder 3 may support second drive means (which may comprise, for example, a second electric motor 6) for driving the rotation of the electrospindle assembly 4 about the second axis of rotation A.
    The second drive means (second motor 6 or motor axis A) may in particular comprise a torque motor. As is known, includes
    Torque motor (torque motor) usually a special brushless synchronous motor with permanent magnets (with direct drive). The second drive means (second motor 6 or motor axis A) may in particular comprise stator means 7 which are connected (fixedly) to the electrospindle holder 3. The stator means 7 may be mounted on the bracket 3 so as to rotate together with the bracket 3 about the first axis C.
    The second drive means (second motor 6 or motor axis A) may in particular comprise rotor means 8 which are (fixedly) connected to the electrospindle assembly 4. The rotor means 8 may be mounted on the electrospindle assembly 4 so as to rotate about the second axis A together with the electrospindle assembly 4. The rotor means 8 may in particular comprise at least one rotor lying coaxially with a second axis A, which rotor is connected (fixedly) to the electrospindle assembly 4.
    The second drive means (drive axis A) may in particular comprise electromagnetic winding means 9 which are mounted (mounted) on the stator means 7. The second drive means (drive axis A) may in particular comprise permanent magnet means 10 which are mounted (mounted) on the rotor means 8.
    The stator means 7 and the rotor means 8 may be configured as in Figures 3, 4, 5 and 7 so that the magnetic flux flows substantially in a direction (axial flow) parallel to the second axis A from one means to the other.
    The stator means 7 may in particular comprise at least one first stator ring 11 which is connected (fixedly) to the holder 3. The electromagnetic winding means 9 may, as in the example in FIGS. 3-5, comprise windings which are mounted on the first stator ring 11.
    The rotor means 8 may comprise a disc 12, which in turn comprises at least a first, the first stator ring 11 facing side. The permanent magnet means 10 may in particular comprise at least a first arrangement of magnets on the first side of the disk 12.
    In particular, as in the example of FIGS. 3-5, the stator means 7 may comprise at least one second stator ring 13 which is connected (fixedly) to the holder 3. The second stator ring 13 may be spaced from the first stator ring 11 in a direction parallel to the second axis A. The electromagnetic winding means 9 may comprise windings mounted on the second stator ring 13.
    The disk 12 may be mounted between the first stator ring 11 and the second stator ring 13, as in this example. The disk 12 may in particular have at least one second side facing the second stator ring 13. The second side of the disc 12 may lie on the opposite side of the first side.
    The permanent magnet means 10 may in particular have at least one second arrangement of magnets on the second side of the disk 12.
    As in these examples, the stator means 7 may comprise at least one annular, for example essentially toroidal, stator element (for example with a rectangular cross section). On at least one side of the stator element, one or more grooves for receiving the electromagnetic winding means can be achieved. The grooves can be arranged radially. The grooves can be slightly inclined to reduce the cogging torque.
    The permanent magnet means 10 may in particular comprise a plurality of (magnetized in the axial direction) permanent magnets which are housed in grooves on the two opposite sides of the (for example made of non-magnetic material) disc 12 and protrude on both sides of the disc 12.
    The working head 1 may in particular comprise angular position sensors (for example an encoder) for detecting at least one angular position of the rotor means 8. In particular, the working head 1 may include programmable electronic control means equipped with computer program instructions and configured to control the position of the second axis A based on at least one signal output from the angular position sensors.
    The first drive means (first motor 5 or motor axis C) may in particular comprise a second torque motor. The first drive means (first motor 5 or motor axis C) may in particular comprise second stator means 14 which are connected (fixedly) to the holders 2. The first drive means (first motor 5 or motor axis C) may in particular comprise second rotor means 15, which are connected (fixedly) to the holder 3.
    The first drive means (drive axis C) may in particular comprise second electromagnetic winding means 16 which are mounted on the second stator means 14. The first drive means (drive axis C) may in particular comprise second permanent magnet means 17 which are mounted on the second rotor means 15. The second rotor means 15 may in particular comprise at least one rotor coaxial with the first axis C. The second stator means 14 may for example comprise an annular, with respect to the second rotor means 15 external part. The annular external part may in particular be coaxial with the second rotor means 15. The second stator means 14 may be configured and arranged with respect to the second rotor means 15 so that the magnetic flux substantially in the radial direction with respect to the first axis C flows from one to the other (radial flow).
    The electric spindle assembly 4 can be directly connected to the rotor means 8 of the second motor 6 (motor axis A) without the use of transmission means. Therefore, the second axis A is controlled with a direct drive.
    The second drive means (drive the second axis A) can be used for the rotatable
    Coupling of the second axis A with the holder 3 with roll-holding means (rolling bearings) are connected.
    The second drive means (second axis drive A) may be operatively connected to the sensor means (encoders) used to feedback control the angular position of the second axis A.
    In the example, according to FIGS. 3-5, the second drive means (second motor 6 or drive axis A) comprise a multi-stage axial flux motor, in this case two stator elements (which comprise the first and second stator rings 11 and 13) and one rotor element (the comprising the disk 12). The use of several stator and / or rotor elements makes it possible to increase the effective area for torque generation (increasing the torque density) for the same volume. In other words, the structure with two stator elements (with the same diameter) can achieve two effective areas for generating torque, which leads to a corresponding increase in the torque density.
    FIG. 7 shows an example of a single-stage axial flow motor (only one stator element and one rotor element) which can be used in non-illustrated examples as a first torque motor (drive C axis) and / or as a second torque motor (drive A axis) , In other, not shown examples, an axial flux motor with two stator elements, in particular as used in the example of Figures 3-5 as a second torque motor (drive axis A), as the first torque motor (drive axis C) can be used. In other, not shown examples, a radial flux motor, in particular as used in Fig. 6 as in the example of FIG. 3-5 as the first torque motor (drive axis C) used as a second torque motor (drive axis A).
    As in other examples, not shown, all possible combinations of various torque motors (radial flux motor, single-stage axial flow motor, multi-stage axial flow motor, etc.) can be used as the first torque motor (drive C axis) and as the second torque motor (drive A axis).
    The permanent magnet means of the examples cited in this specification may comprise magnets which are coated with an electrically insulating material (in particular ferromagnetic material, for example ferrite) to protect the magnets from the danger of possible demagnetization, for example in field weakening operations. The coating of the magnets (for example, with ferromagnetic material) allows for existing demagnetizing
    Stator currents provide effective field weakening of the motor as alternative paths are created for the flux generated by the magnets.
    The torque motors described herein may include coolant (eg, liquid coolant).
    The axis (second axis A) which directly supports the electrospindle assembly 4 is driven (with direct drive) via a torque motor, in particular an axial flux motor, in particular a multi-stage axial flux motor (comprising, for example, a rotor element between the two stator elements). This structure, with which an effective drive of the electrospindle assembly 4 is possible (for machining machining), is housed in an appropriate space, which is available in the context of a working head with two axes of rotation.
    The direct drive also allows a high dynamic response to the rotation regulation of the electrospindle assembly (about axis C and / or about axis A), avoiding fly-reading due to backlash and yielding of a possible mechanical transmission system. By using at least one three-phase motor, moreover, the rotational speed of the electrospindle assembly can be uniformly and regularly modulated.
    权利要求:
    Claims (9)
    [1]
    A working head (1) having two controlled axes (C; A) and having a support (3) rotatable about a first axis (C); a first motor (5) driving the rotation of the support (3) about the first axis (C); an electrospindle assembly (4) carried by the support (3) and rotatable about a second axis (A); and a second motor (6) as a drive for the rotation of the electrospindle assembly (4) about the second axis (A), characterized in that the second motor (6) comprises a torque motor with stator means (7), rotor means (8), electromagnetic Winding means (9) mounted on the stator means (7) and permanent magnet means (19) mounted on the rotor means (8), the stator means (7) being integral with the support (3) and the rotor means (8 ) are connected to the electrospindle assembly (4).
    [2]
    2. Working head according to claim 1, characterized in that the stator means (7) on the holder (3) are mounted or mounted and / or the rotor means (8) mounted on the electrospindle assembly (4) or fixed.
    [3]
    3. Working head according to claim 1 or 2, characterized in that the stator means (7) and the rotor means (8) are configured such that the magnetic flux substantially in a direction parallel to the second axis (A) direction from the one means to the other flows.
    [4]
    4. Working head according to one of claims 1 to 3, characterized in that the stator means (7) comprise at least a first stator ring (11) which is connected to the holder (3); the electromagnetic winding means (9) comprise at least first winding means mounted on the first stator ring (11); the rotor means (8) comprise a disc (12) having at least a first side facing the first stator ring (11); and the permanent magnet means (10) comprise at least a first array of magnets on the first side of the disc (12).
    [5]
    5. Working head according to claim 4, characterized in that: the stator means (7) have at least one second stator ring (13) which is connected to the holder (3) and by the first stator ring (11) in a direction parallel to the second axis (A ) extending direction is spaced; the electromagnetic winding means (9) comprise at least second winding means mounted on the second stator ring (13); the disc (12) is mounted between the first stator ring (11) and the second stator ring (13) and has at least one second side opposite the first side and facing the second stator ring (13); and the permanent magnet means (10) comprise at least one second array of magnets on the second side of the disk (12).
    [6]
    6. Working head according to one of claims 1 to 5, characterized in that, the first motor (5) comprises a second torque motor, the second stator means (14), second rotor means (15), second electromagnetic, on the second stator means (14) mounted winding means (16) and second, on the second rotor means (15) mounted permanent magnet means (17), wherein the second rotor means (15) are connected to the holder (3) and having a coaxial with the first axis (C) rotor.
    [7]
    7. Working head according to claim 6, characterized in that the second stator means (14) have at least one annular external part, which is coaxial with the second rotor means (15), wherein the magnetic flux substantially in the radial direction with respect to the first axis (C). flowing from one to the other.
    [8]
    8. Working head according to one of claims 1 to 7, characterized in that, wherein the rotor means (8) have a coaxial with the second axis (A) lying rotor.
    [9]
    A working head according to claim 8, characterized by angular position sensors for determining the angular position of the rotor, and by programmable electronic control means equipped with computer program instructions and configured to read the position of the second axis (A) from at least one of the angular position sensors Control signals.
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    同族专利:
    公开号 | 公开日
    AT518741B1|2019-02-15|
    DE102017108792A1|2017-11-02|
    ITUA20162925A1|2017-10-27|
    AT518741A3|2018-12-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10348691A1|2003-10-16|2005-05-19|Shw Werkzeugmaschinen Gmbh|Directly driven multiple-axis rotating head for machine tool spindle has third axis offset to orthogonal of second axis eccentrically towards external surface of arm|
    DE102005024004A1|2005-05-25|2006-12-07|Schaeffler Kg|Rotary bearing device, in particular for a rotatable rotary table of a machine tool|
    DE102006054475A1|2006-11-18|2008-05-21|Hs-Beteiligungsgesellschaft Mbh|Transmission-less, direct propelled multi-axle rotating head for numerically controlled position movement of motor spindle, has motor arranged in hole in arm, where stator of motor is designed for controlling swiveling movement of spindle|
    ITMI20071773A1|2007-09-14|2009-03-15|Technai Team S R L|"HEAD WITH SPINDLE HOLDER WITH TWO ROTARY AXIS AND DIRECT CONTROL"|
    CN101428395B|2008-12-04|2010-06-02|大连理工大学|AC permanent magnet disc type torque motor drived large-torque double-pendulum milling head|
    DE102009020384A1|2009-05-08|2010-11-11|Schaeffler Technologies Gmbh & Co. Kg|Bearing arrangement e.g. radial axial-thrust bearing, for machine table, has rotor movably supported by stator, where rotor and stator are pushed with respect to each other in area of contact areas|
    ITTV20130019A1|2013-02-19|2014-08-20|Breton Spa|MACHINING HEAD FOR A MACHINE TOOL AND MACHINE TOOL INCLUDING SUCH HEAD|CN112091296A|2020-09-09|2020-12-18|刘江良|Milling machine for manufacturing precision parts|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ITUA2016A002925A|ITUA20162925A1|2016-04-27|2016-04-27|MACHINING HEAD WITH TWO ROTARY AXES|
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