Multi-axis combined machining tool and intelligent control method thereof

Abstract

The invention relates to the technical field of composite machine tools, in particular to a multi-axis composite machining machine tool and an intelligent control method thereof.The method comprises the steps that the machining machine tool is subjected to pilot run, and a tool spindle coordinate system and an inner circle grinding head spindle coordinate system are established; determining the error level of the machine tool positioning precision according to the coordinate difference of the origin of the coordinate system; determining an adjusting amplitude and an adjusting object according to the vector coordinates, and adjusting the fast moving speed and the feeding speed of the moving module; acquiring a plurality of coordinate differences, judging the positioning grade of the machine tool, and calling back the judgment standard for judging the positioning precision error grade of the machine tool; cutting force borne by a workpiece spindle is detected, the abrasion degree of a tool is judged, and corresponding measures are taken; the change trend of the cutting force is analyzed, the consumption grade of abrasion consumption of the tool is judged according to the change trend of the cutting force, and the ratio of the spindle rotating speed to the feeding speed is adjusted. Multiple procedures are completed through one-time clamping, machining parameters of the machine tool are adjusted, and the positioning precision and machining efficiency of the machine tool are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of compound machine tools, and in particular to a multi-axis compound machining machine tool and an intelligent control method thereof. Background Art

[0002] With the increasing demand for processing efficiency, processing accuracy, cost reduction and efficiency improvement, composite processing is increasingly being applied to various fields. Composite processing is an important technical development direction for CNC machine tools. The composite function can greatly eliminate the transportation, clamping and waiting time in the process of hashing process processing. The workpiece is only clamped and positioned once on the machine tool, which not only reduces the processing auxiliary time, but also improves the processing accuracy of the workpiece, greatly shortens the processing cycle and reduces the number of work-in-progress in the processing workshop. Among them, the high-end five-axis CNC system is the "strongest brain" of the machine tool industry and a cutting-edge heavy tool necessary for high-end manufacturing. Moreover, the five-axis CNC machine tool is superior to the three-axis machine tool in terms of processing accuracy, processing efficiency, consistency, stability, etc. Therefore, more and more customers, especially those in precision manufacturing, prefer to choose five-axis products. The rapid development of China's manufacturing industry has put forward a strong demand for five-axis CNC. In the future, five-axis high-end CNC machine tools will be more widely used.

[0003] Chinese Patent Publication No.: CN113070691A discloses a multi-spindle milling and grinding compound machine tool. This multi-spindle milling and grinding compound machine tool uses a workpiece spindle to clamp the workpiece once, and then rotates the rotary table to perform processing through the first grinding wheel spindle, the tool spindle or the second grinding wheel spindle to meet the processing requirements of different stations on the workpiece. The first grinding wheel spindle can rotate through the A axis to adjust the helix angle for thread processing, and the tool spindle can replace a variety of tools to meet different processing requirements, so that this compound machine tool can achieve more comprehensive matching of the processing requirements of the workpiece through the interchange between at least four stations on the rotary table, and can achieve multi-dimensional processing through the minimum adjustment of the workpiece spindle, and significantly improve the processing accuracy of the workpiece.

[0004] It can be seen that the multi-spindle milling and grinding compound machine tool has the following problems: during the processing of the workpiece and after switching the milling and grinding process and replacing the tool spindle, the relative position of the tool to the workpiece may deviate due to grinding and errors, and the positioning accuracy is not precise enough. Summary of the invention

[0005] To this end, the present invention provides a multi-axis compound machining machine tool and an intelligent control method thereof, so as to overcome the problem in the prior art that during the machining of the workpiece and after switching the milling and grinding process and replacing the tool spindle, the relative position of the tool to the workpiece may deviate due to the influence of grinding and errors, and the positioning accuracy is not precise enough.

[0006] To achieve the above object, the present invention provides an intelligent control method for a multi-axis composite machining machine tool, comprising:

[0007] Step S1, controlling the machining unit to perform a test run on a right-angled trapezoidal base, and establishing a tool spindle coordinate system and an internal grinding head spindle coordinate system according to the tool spindle and the internal grinding head spindle in the machining unit;

[0008] Step S2, the machining unit is moved by linkage control of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, and whether there is a movement error of the moving unit is determined according to the coordinate difference of the origin of the coordinate system, and the error level of the positioning accuracy of the machine tool is determined according to the difference evaluation value;

[0009] Step S3, calculating the vector coordinates between the origins of the coordinate system, adjusting the fast moving speed and the feed speed of the moving module in the moving unit, and determining the adjustment amplitude and the adjustment object according to the coordinate values ​​in the vector coordinates;

[0010] Step S4, obtaining a number of coordinate differences, determining the positioning level of the repeated positioning accuracy of the machine tool, and retrieving the judgment standard of the error level of the positioning accuracy of the machine tool according to the average value of the difference of the several coordinate differences;

[0011] Step S5, selecting a tool required for processing in the processing unit, and processing through the processing unit, during the process of the processing unit processing the workpiece clamped on the cradle, detecting the cutting force on the workpiece spindle in the cradle, judging the tool wear degree of the tool spindle and the internal grinding head spindle in the processing unit, and taking corresponding measures according to the tool wear degree;

[0012] Step S6, analyzing the changing trend of the cutting force, judging the consumption level of the tool wear according to the changing trend of the cutting force, and adjusting the ratio of the spindle speed and feed speed of the tool spindle and the internal grinding head spindle.

[0013] Furthermore, before processing the workpiece, the processing machine tool is tested to establish the tool spindle coordinate system and the internal grinding head spindle coordinate system;

[0014] The tool spindle coordinate system is constructed by taking the spindle center of the tool spindle as the origin, the direction from the origin to the automatic tool change magazine as the negative direction of the X-axis, the direction from the origin to the workpiece as the positive direction of the Y-axis, and the positive direction from the origin vertically upward as the positive direction of the Z-axis;

[0015] The method for constructing the internal cylindrical grinding head spindle coordinate system is as follows: the spindle center of the internal cylindrical grinding head spindle is taken as the origin, the direction of the automatic tool change magazine through the origin is the negative direction of the X-axis, the direction of the workpiece through the origin is the positive direction of the Y-axis, and the positive direction of the Z-axis is vertically upward through the origin.

[0016] Further, after the trial operation switching process, the coordinate difference between the origin of the tool spindle coordinate system and the internal grinding head spindle coordinate system is calculated;

[0017] If the coordinate difference is less than or equal to the difference evaluation value, it is judged that the movement error of the moving unit is within the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the first error level;

[0018] If the coordinate difference is greater than the difference evaluation value, it is determined that the movement error of the moving unit exceeds the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the second error level.

[0019] Further, when the positioning accuracy of the machine tool is at the second error level, the vector coordinates between the origin coordinates are calculated, and the vector coordinates include a horizontal coordinate, a longitudinal coordinate, and a vertical coordinate;

[0020] If the horizontal coordinate is a positive value, the X-direction fast moving speed of the X-direction moving module is increased;

[0021] If the horizontal coordinate is a negative value, the X-direction fast moving speed of the X-direction moving module is reduced, and the increase and decrease amplitude of the X-direction fast moving speed is proportional to the absolute value of the horizontal coordinate;

[0022] If the longitudinal coordinate is a positive value, the Y-direction fast moving speed of the Y-direction moving module is increased;

[0023] If the longitudinal coordinate is a negative value, the Y-direction fast moving speed of the Y-direction moving module is reduced, and the increase and decrease amplitude of the Y-direction fast moving speed is proportional to the absolute value of the longitudinal coordinate;

[0024] If the vertical coordinate is a positive value, the Z-direction feed speed of the Z-direction moving module is increased;

[0025] If the vertical coordinate is a negative value, the Z-direction feed speed of the Z-direction moving module is reduced, and the increase and decrease amplitude of the Z-direction feed speed is proportional to the absolute value of the vertical coordinate;

[0026] At the same time, the position of the internal grinding head spindle is adjusted according to the transverse coordinate, the longitudinal coordinate and the vertical coordinate in the vector coordinate.

[0027] Furthermore, the coordinate difference is calculated by switching the process for a preset number of times, and the average value of the difference between the coordinate differences is calculated.

[0028] If the average value of the difference is less than or equal to the standard value, it is judged that the repeatability of the machine tool is at the first positioning level;

[0029] If the average value of the difference is greater than the standard value, it is determined that the repeatability of the machine tool is at the second positioning level, and the difference evaluation value is adjusted back.

[0030] Furthermore, the cutting force on the workpiece spindle is detected in real time by a force sensor installed on the workpiece spindle, a cutting force variation curve of the cutting force varying with time is plotted, and a derivative function of the cutting force variation curve is calculated accordingly;

[0031] If the cutting force in the cutting force variation curve at any moment is less than or equal to the critical value, it is judged that the tool wear degree is at the first wear degree;

[0032] If the cutting force in the cutting force variation curve is greater than the critical value at any moment, it is judged that the tool wear degree is at the second wear degree, and a signal is sent to replace the tool.

[0033] Furthermore, when the tool wear degree is at the first wear degree, if the derivative function value corresponding to the cutting force change curve at any moment is less than zero, it is judged that the cutting force continues to decrease and the tool wear consumption is at the first consumption level;

[0034] If the derivative function value corresponding to the cutting force change curve at any moment is greater than zero, it is judged that the cutting force continues to increase and the tool wear consumption is at the second consumption level;

[0035] When the tool wear consumption is at the second consumption level, it is determined that the spindle speed and the feed speed of the tool spindle or the internal grinding head spindle do not match, and the ratio of the spindle speed to the feed speed is increased.

[0036] A multi-axis compound machining machine tool, characterized by comprising:

[0037] The base is a right-angled trapezoidal shape that is narrow at the top and wide at the bottom, and is used to carry the various unit components of the processing machine tool;

[0038] A moving unit, which is located on the top of the base and connected to the base, and can move the processing unit in the X, Y and Z directions in a linked manner;

[0039] A machining unit, which is connected to the mobile unit, includes a tool magazine support, an automatic tool magazine, a tool spindle, a B-axis turntable and an internal grinding head spindle, and can perform different machining processes on the workpiece through the linkage of several axes;

[0040] The cradle adopts a trapezoidal groove structure and is located on the top of the Y-axis moving module. A guide rail mounting seat is provided at the bottom of the cradle. The guide rail mounting seat has an adjustable locking device. A workpiece spindle is provided in the middle of the cradle for clamping the workpiece to be processed and cooling it;

[0041] The mobile unit comprises,

[0042] An X-direction moving module is installed at the trapezoidal top of the base, the mounting surface close to the trapezoidal inclined surface of the base is in a concave shape, a groove is provided on the inner concave side of the concave shape, and the X-direction moving module is used to move the processing unit in the X direction;

[0043] A Y-direction moving module, which is installed on the trapezoidal slope of the base and has a rectangular cavity inside, and the Y-direction moving module is used to move the processing unit in the Y direction;

[0044] The Z-direction moving module is vertically arranged in front of the inner concave side of the X-direction moving module and can slide on the X-direction moving module toward the X-direction, so as to move the processing unit in the Z-direction.

[0045] Further, the X-direction moving module is provided with three X-direction linear guide rails in the same plane, the plane where the X-direction linear guide rails are located is perpendicular to the installation bottom surface of the X-direction moving module, and the Z-direction moving module slides on the X-direction moving module through the X-direction linear guide rails;

[0046] A sunken rectangular cavity is arranged inside the Y-direction moving module, a wall panel is arranged around the rectangular cavity, a bottom panel is arranged at the bottom, the upper part of the rectangular cavity is open, and two Y-direction guide rails are arranged at the top of the rectangular cavity;

[0047] The Z-direction moving module is vertically provided with four Z-direction linear guide rails, and the processing unit moves in the Z-direction through the Z-direction linear guide rails. The Z-direction linear guide rails are provided with a Z1 saddle and a Z2 saddle, and the Z1 saddle and the Z2 saddle are driven by screw rods respectively and can be independently motion controlled.

[0048] Furthermore, the automatic tool change magazine is in a disc shape, which is located on the upper side of the X-axis moving module, connected to the X-axis moving module through the magazine support, and is used to accommodate a number of tools that can be installed on the tool spindle;

[0049] The B-axis turntable is connected to the Z1 saddle via a circular mounting seat provided on the Z1 saddle. The B-axis turntable can rotate around the Y-axis direction, and can achieve precise positioning and locking at any angle;

[0050] The tool spindle is arranged on the B-axis turntable and connected to the Z1 saddle through the B-axis turntable. The tool spindle can be linked with the moving unit to perform axial feeding and process the workpiece in different processes and at different angles.

[0051] The spindle of the internal grinding head is arranged on the Z2 saddle, and can control the movement of the grinding wheel of the internal grinding head relative to the inner axis of the workpiece through axial feed, adjust it in the radial direction, change the contact position of the grinding wheel and the inner surface of the workpiece, and change the contact angle of the grinding wheel through rotation and tilting.

[0052] Furthermore, the X-direction linear guide rail is divided into an X-direction first guide rail, an X-direction second guide rail and an X-direction third guide rail from bottom to top, the spacing between the X-direction first guide rail and the X-direction second guide rail is smaller than the spacing between the X-direction second guide rail and the X-direction third guide rail, a lead screw installation position is provided between the X-direction first guide rail and the X-direction second guide rail, and the X-direction drive motor of the lead screw is on the same side as the automatic tool change magazine;

[0053] The Y-direction guide rail is divided into a first Y-direction guide rail and a second Y-direction guide rail, the Y-direction lead screw is installed on the inner side close to one of the Y-direction guide rails, and the Y-direction drive motor of the Y-direction lead screw is installed at the middle and rear part of the base, located at the concave position of the concave X-direction moving module;

[0054] The Z-direction linear guide is divided into a first Z1-direction guide, a second Z1-direction guide, a first Z2-direction guide, and a second Z2-direction guide. A Z1-direction lead screw is installed between the first Z1-direction guide and the second Z1-direction guide, and a Z2-direction lead screw is installed between the first Z2-direction guide and the second Z2-direction guide. The Z-direction drive motors of the Z1-direction lead screw and the Z2-direction lead screw are installed on the top of the Z-direction moving module. The Z1 saddle is installed on the first Z1-direction guide and the second Z1-direction guide, and the Z2 saddle is installed on the first Z2-direction guide and the second Z2-direction guide.

[0055] Furthermore, there is a forward-protruding mounting foot on the left and right sides below the X-axis moving module, and the mounting feet are arranged on the concave mounting seat of the base.

[0056] The X-axis saddle is installed on the X-axis linear guide rail, and a gasket for adjusting the X-axis to be perpendicular to the Z-axis is arranged on the side of the installation position of the X-axis linear guide rail.

[0057] The Z-direction moving module is slidably arranged in front of the X-direction moving module, and the Y-direction moving module is fixedly connected to the trapezoidal inclined surface of the base.

[0058] Compared with the prior art, the beneficial effect of the present invention lies in that, during the machining process, after the tool spindle performs the drilling process on the workpiece, the internal grinding head spindle needs to perform internal grinding on the drilled hole, and the positioning accuracy after switching the tool and switching the process needs to be guaranteed; the method establishes a coordinate system according to the center points of the tool spindle and the internal grinding head spindle, and after switching the tool and switching the process, the error level of the machine tool positioning accuracy is judged by the coordinate difference between the origin coordinates of one coordinate system before moving and the origin coordinates of another coordinate system after moving. When there is a difference in the coordinates of the origins of the tool spindle coordinate system and the internal grinding head spindle coordinate system after the switching process, it indicates that there is a deviation between the position of the tool spindle and the processing position of the internal grinding head spindle on the workpiece, and the positioning accuracy of the machine tool can be detected in real time without being restricted by the use and operation requirements and detection accuracy of the detection instrument, thereby improving the efficiency and accuracy of detecting the positioning accuracy of the machine tool, avoiding the detection efficiency being too low so that the machine tool processes the workpiece at a lower positioning accuracy, and reducing the impact on the machining accuracy of the machine tool.

[0059] Furthermore, when the workpiece is vertically drilled and internally ground perpendicular to the machining surface of the workpiece, the horizontal coordinates and the vertical coordinates in the X and Y directions determine whether there is a deviation in the machining positions of the two processes after the switching process, and the vertical coordinate in the Z direction determines whether the machining depths of the two processes are the same. The method adjusts the rapid moving speeds in the X and Y directions according to the vector coordinates between the origin coordinates, which has a calibration effect on the rapid moving speed of the machine tool, and reduces the deviation in the machining position to within the allowable error range. At the same time, the Z feed speed is adjusted according to the vertical coordinate to avoid the adverse effect on the finished product of the workpiece caused by the depth of the internal grinding not meeting the standard when the workpiece is internally ground. Correspondingly, the position of the origin coordinates of the spindle of the internal grinding head is adjusted according to the vector coordinates, which can significantly improve the positioning accuracy and calibration effect of the machining machine tool, and improve the machining efficiency and machining accuracy.

[0060] Furthermore, the repeatability of positioning accuracy can reflect the consistency and repeatability of the machine tool in reaching the target position in multiple movements. The method determines the volatility of the positioning accuracy of the machine tool by calculating the average value of the difference between several coordinate differences. By reducing the difference evaluation value, the judgment standard for determining the error level of the positioning accuracy of the machine tool is made more stringent, thereby further improving the positioning accuracy and calibration effect of the processing machine tool.

[0061] Furthermore, a mismatch between the spindle speed and the feed speed can lead to increased tool wear or increased temperature of the internal grinding wheel, resulting in thermal deformation, and reduced workpiece machining accuracy. The method adjusts the spindle speed accordingly after the feed speed changes, and collects cutting force signals in real time through a force sensor installed on the workpiece spindle, analyzes the changing trend of the cutting force, and indirectly evaluates tool wear. It determines whether the spindle speed and feed speed match based on the tool wear degree and wear consumption level, avoids increased tool wear caused by a mismatch between the spindle speed and feed speed, and increases the flexibility and adaptability of testing the machining parameters of the machine tool during machine tool machining.

[0062] Furthermore, the automatic tool change magazine adopts a disc design, which can accommodate multiple tools. The tool is taken out from the magazine by the robot arm and automatically installed on the spindle for processing. The required tool is intelligently selected through the computer control system. The automatic positioning system automatically completes the positioning and clamping of the workpiece between different processing steps through the integrated robot arm and automatic tool change system, reducing manual operation. The automatic positioning system includes a multi-axis linkage positioning platform, and real-time monitoring and adjustment are carried out through visual sensors and force sensors to ensure the accurate positioning of the workpiece.

[0063] Furthermore, the core part of the internal cylindrical grinding head spindle is the grinding head spindle, on which a grinding wheel is mounted. The spindle is usually driven by an electric motor to rotate at high speed. The rotation of the grinding wheel generates grinding force, which directly acts on the inner cylindrical surface of the workpiece for removal processing. The internal cylindrical grinding head spindle controls the movement of the grinding wheel relative to the inner cylindrical axis of the workpiece through axial feed, and adjusts it in the radial direction, that is, changes the contact position between the grinding wheel and the inner surface of the workpiece to achieve grinding of different depths. It can also change the contact angle of the grinding wheel by rotating and tilting, so that it can perform multi-angle grinding on the inner cylindrical surface of the workpiece, ensuring efficient processing of complex inner cylindrical shapes or deep holes, and performing fine grinding.

[0064] Furthermore, the internal grinding head spindle is equipped with a five-axis linkage function, which can be independently adjusted and positioned in multiple directions. Compared with ordinary grinding heads that can only move in a single plane, the internal grinding head spindle can more flexibly adapt to the grinding requirements of complex workpieces and handle more complex workpiece shapes. The Z1 and Z2 saddles are driven by the Z1 screw and the Z2 screw respectively, and can be independently motion controlled. At the same time, the left and right relative positions of the Z1 and Z2 saddles are not limited to the current example, and can also be interchanged. The integrated milling and grinding characteristics brought by the tool spindle and the internal grinding head spindle enable the workpiece to complete both milling and grinding operations in a fixed position, reducing the error of workpiece transfer and improving machining accuracy. Combining the advantages of milling and grinding, rough machining and fine machining can be completed in the same process to ensure the consistency of the workpiece surface quality, which is especially suitable for machining tasks with high precision and high surface quality requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a flow chart of an intelligent control method of a multi-axis compound machining machine tool in an embodiment of the present invention;

[0066] Figure 2 It is a structural schematic diagram of a multi-axis compound machining machine tool in an embodiment of the present invention;

[0067] Figure 3 It is a structural schematic diagram of a base and a mobile unit in an embodiment of the present invention;

[0068] Figure 4 This is a schematic diagram of the structure of the Z-direction moving module in an embodiment of the present invention;

[0069] Figure 5 It is a schematic diagram of the structure of the tool spindle and the B-axis turntable in the machining unit in an embodiment of the present invention;

[0070] Figure 6 It is a schematic diagram of the structure of the internal grinding head spindle and the Z2 saddle in the machining unit in an embodiment of the present invention;

[0071] Figure 7 This is a schematic diagram of the structure of a cradle in an embodiment of the present invention;

[0072] In the figure: 1-base, 2-X-direction moving module, 3-Y-direction moving module, 4-Z-direction moving module, 6-cradle, 21-X-direction first guide rail, 22-X-direction second guide rail, 23-X-direction third guide rail, 24-screw mounting position, 25-X-direction drive motor, 26-Y-direction drive motor, 27-Z-direction drive motor, 31-Y-direction first guide rail, 32-Y-direction second guide rail, 33-Y-direction drive motor, 41-Z1-direction first guide rail, 42-Z1-direction second guide rail, 43-Z2-direction first guide rail, 44-Z2-direction second guide rail, 45-Z1 saddle, 46-Z2 saddle, 51-tool magazine bracket, 52-automatic tool changing tool magazine, 53-tool spindle, 54-B-axis turntable, 55-inner cylindrical grinding head spindle, 61-guide rail mounting seat, 62-workpiece spindle. DETAILED DESCRIPTION

[0073] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0074] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0075] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0076] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] See also Figure 1-Figure 7 As shown, Figure 1 It is a flow chart of an intelligent control method of a multi-axis compound machining machine tool in an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a multi-axis compound machining machine tool in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a base and a mobile unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the Z-direction moving module in an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the tool spindle and the B-axis turntable in the machining unit in an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of the internal grinding head spindle and the Z2 saddle in the machining unit in an embodiment of the present invention; Figure 7 Schematic diagram of the structure of the cradle in the embodiment of the present invention.

[0078] The present invention provides an intelligent control method for a multi-axis composite machining machine tool, comprising:

[0079] Step S1, controlling the machining unit to perform a test run on a right-angled trapezoidal base, and establishing a tool spindle coordinate system and an internal grinding head spindle coordinate system according to the tool spindle and the internal grinding head spindle in the machining unit;

[0080] Step S2, the machining unit is moved by linkage control of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, and whether there is a movement error of the moving unit is determined according to the coordinate difference of the origin of the coordinate system, and the error level of the positioning accuracy of the machine tool is determined according to the difference evaluation value;

[0081] Step S3, calculating the vector coordinates between the origins of the coordinate system, adjusting the fast moving speed and the feed speed of the moving module in the moving unit, and determining the adjustment amplitude and the adjustment object according to the coordinate values ​​in the vector coordinates;

[0082] Step S4, obtaining a number of coordinate differences, determining the positioning level of the repeated positioning accuracy of the machine tool, and retrieving the judgment standard of the error level of the positioning accuracy of the machine tool according to the average value of the difference of the several coordinate differences;

[0083] Step S5, selecting a tool required for processing in the processing unit, and processing through the processing unit, during the process of the processing unit processing the workpiece clamped on the cradle, detecting the cutting force on the workpiece spindle in the cradle, judging the tool wear degree of the tool spindle and the internal grinding head spindle in the processing unit, and taking corresponding measures according to the tool wear degree;

[0084] Step S6, analyzing the changing trend of the cutting force, judging the consumption level of the tool wear according to the changing trend of the cutting force, and adjusting the ratio of the spindle speed and feed speed of the tool spindle and the internal grinding head spindle.

[0085] In this embodiment, when the tool spindle 53 performs drilling processing on the workpiece, the tool spindle first moves to the required position. After drilling the workpiece, the internal grinding head spindle 55 moves to the same required position to perform internal grinding on the drilled hole of the workpiece.

[0086] Before machining the workpiece, the machining machine tool is tested to establish the tool spindle coordinate system and the internal grinding head spindle coordinate system;

[0087] The trial operation includes the process of switching the tool spindle 53 and the internal grinding head spindle 55 and controlling the tool spindle and the internal grinding head spindle to move in three directions: X, Y and Z.

[0088] Specifically, the tool spindle coordinate system is constructed by taking the spindle center of the tool spindle 53 as the origin, the direction from the origin to the automatic tool change magazine 52 as the negative direction of the X axis, the direction from the origin to the workpiece as the positive direction of the Y axis, and the direction from the origin vertically upward as the positive direction of the Z axis;

[0089] The method for constructing the internal grinding head spindle coordinate system is as follows: the spindle center of the internal grinding head spindle 55 is taken as the origin, the direction through the origin pointing to the automatic tool change magazine 52 is the negative direction of the X-axis, the direction through the origin pointing to the workpiece is the positive direction of the Y-axis, and the direction through the origin vertically upward is the positive direction of the Z-axis.

[0090] After the trial operation switching process, the coordinate difference between the origin of the tool spindle coordinate system and the internal grinding head spindle coordinate system is calculated.

[0091] Specifically, when switching the process, the tool spindle coordinate system and the internal grinding head spindle coordinate system move, and after stopping the movement, the tool spindle coordinate system and the internal grinding head spindle coordinate system have the origin coordinates before the movement and the origin coordinates after the movement of the other coordinate system;

[0092] The origin coordinates of the internal cylindrical grinding head spindle coordinate system can be obtained in the tool spindle coordinate system, and the origin coordinates of the tool spindle coordinate system can also be obtained in the internal cylindrical grinding head spindle coordinate system. The coordinate difference is calculated according to the origin coordinates before movement and the origin coordinates of another coordinate system after movement. The coordinate difference is equal to the distance between the two origin coordinates.

[0093] If the coordinate difference is less than or equal to the difference evaluation value, it is judged that the movement error of the moving unit is within the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the first error level;

[0094] If the coordinate difference is greater than the difference evaluation value, it is judged that the movement error of the mobile unit exceeds the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the second error level;

[0095] Wherein, the difference evaluation value is equal to 0.08 mm.

[0096] Specifically, during the machining process, after the tool spindle 53 performs the drilling process on the workpiece, the internal grinding head spindle 55 needs to perform internal grinding on the drilled hole, and the positioning accuracy after switching the tool and switching the process needs to be guaranteed; the method establishes a coordinate system according to the center points of the tool spindle and the internal grinding head spindle, and after switching the tool and switching the process, the error level of the machine tool positioning accuracy is judged by the coordinate difference between the origin coordinates before the movement of one coordinate system and the origin coordinates after the movement of the other coordinate system. When there is a difference in the coordinates of the origin of the tool spindle coordinate system and the internal grinding head spindle coordinate system after the switching process, it indicates that there is a deviation between the position of the tool spindle and the processing position of the internal grinding head spindle on the workpiece. The positioning accuracy of the machine tool can be detected in real time without being restricted by the use and operation requirements and detection accuracy of the detection instrument, thereby improving the efficiency and accuracy of detecting the positioning accuracy of the machine tool, avoiding the detection efficiency being too low so that the machine tool processes the workpiece at a lower positioning accuracy, and reducing the impact on the machining accuracy of the machine tool.

[0097] When the positioning accuracy of the machine tool is at the second error level, the vector coordinates (X0, Y0, Z0) between the origin coordinates are calculated. The calculation method of the vector coordinates belongs to the prior art and will not be described in detail here.

[0098] X0 is the horizontal coordinate of the vector coordinate, Y0 is the longitudinal coordinate of the vector coordinate, and Z0 is the vertical coordinate of the vector coordinate;

[0099] If the horizontal coordinate is a positive value, the X-direction fast moving speed of the X-direction moving module 2 is increased, and the increase range of the X-direction fast moving speed is proportional to the absolute value of the horizontal coordinate;

[0100] If the horizontal coordinate is a negative value, the X-direction fast moving speed of the X-direction moving module 2 is reduced, and the reduction range of the X-direction fast moving speed is proportional to the absolute value of the horizontal coordinate;

[0101] If the longitudinal coordinate is a positive value, the Y-direction fast moving speed of the Y-direction moving module 3 is increased, and the increase amplitude of the Y-direction fast moving speed is proportional to the absolute value of the longitudinal coordinate;

[0102] If the longitudinal coordinate is a negative value, the Y-direction fast moving speed of the Y-direction moving module 3 is reduced, and the reduction amplitude of the Y-direction fast moving speed is proportional to the absolute value of the longitudinal coordinate;

[0103] At the same time, when the positioning accuracy of the machine tool is at the second error level, the origin coordinate position of the internal grinding head spindle 55 is adjusted according to the horizontal coordinate, the longitudinal coordinate and the vertical coordinate in the vector coordinate.

[0104] In this embodiment, the moving speeds of the tool spindle 53 and the internal grinding head spindle 55 are divided into the fast moving speed when switching tools or switching processes and the feed speed when cutting, milling, drilling and internal grinding the workpiece;

[0105] The rapid moving speed and the feeding speed are further divided into X-direction rapid moving speed, Y-direction rapid moving speed, Z-direction rapid moving speed and X-direction feeding speed, Y-direction feeding speed, and Z-direction feeding speed.

[0106] It can be understood that the deviation direction and deviation distance of the tool spindle and the internal grinding head spindle can be calculated based on the vector coordinates. It is a mature prior art to adjust the position of the internal grinding head spindle based on the deviation direction and deviation distance, which will not be repeated in this embodiment.

[0107] When the machine tool positioning accuracy is at the second error level,

[0108] If the vertical coordinate is a positive value, the Z-direction feed speed of the Z-direction moving module 4 is increased, and the increase amplitude of the Z-direction feed speed is proportional to the absolute value of the vertical coordinate;

[0109] If the vertical coordinate is a negative value, the Z-direction feed speed of the Z-direction moving module 4 is reduced, and the reduction range of the Z-direction feed speed is proportional to the absolute value of the vertical coordinate.

[0110] Specifically, when vertical drilling and internal grinding are performed on the workpiece perpendicular to the machining surface of the workpiece, the horizontal coordinates and the vertical coordinates in the X and Y directions determine whether there is a deviation in the machining positions of the two processes after the switching process, and the vertical coordinate in the Z direction determines whether the machining depths of the two processes are the same. The method adjusts the rapid moving speeds in the X and Y directions according to the vector coordinates between the origin coordinates, which has a calibration effect on the rapid moving speed of the machine tool, and reduces the deviation in the machining position to within the allowable error range. At the same time, the Z feed speed is adjusted according to the vertical coordinate to avoid the adverse effect on the finished product of the workpiece caused by the depth of the internal grinding not meeting the standard when the workpiece is internally ground. Correspondingly, the position of the origin coordinates of the internal grinding head spindle 55 is adjusted according to the vector coordinates, which can significantly improve the positioning accuracy and calibration effect of the machining machine tool, and improve the machining efficiency and machining accuracy.

[0111] The coordinate difference is calculated by switching the process multiple times at a preset number of times, and the average value of the difference between several coordinate differences is calculated.

[0112] If the average value of the difference is less than or equal to the standard value, it is judged that the repeatability of the machine tool is at the first positioning level;

[0113] If the average value of the difference is greater than the standard value, the repeatability of the machine tool is judged to be at the second positioning level, the difference evaluation value is adjusted back, and the evaluation standard of the positioning accuracy level is adjusted;

[0114] Specifically, the difference evaluation value is reduced according to the ratio of the standard value to the difference average value;

[0115] Among them, the standard value is 0.04mm.

[0116] Specifically, the repeatability of positioning accuracy can reflect the consistency and repeatability of a machine tool in reaching a target position during multiple movements. This method determines the volatility of the positioning accuracy of a machine tool by calculating the average value of the differences between a number of coordinate differences. By reducing the difference evaluation value, the criteria for determining the error level of positioning accuracy of a machine tool are made more stringent, thereby further improving the positioning accuracy and calibration effect of the machining machine tool.

[0117] During implementation, the feed speed is adjusted and the spindle speed is adjusted accordingly.

[0118] The cutting force on the workpiece spindle 62 is detected in real time by a force sensor installed on the workpiece spindle 62, a cutting force variation curve of the cutting force varying with time is plotted, and a derivative function of the cutting force variation curve is obtained accordingly;

[0119] If the cutting force in the cutting force variation curve at any moment is less than or equal to the critical value, it is judged that the tool wear degree is at the first wear degree;

[0120] If the cutting force in the cutting force variation curve at any moment is greater than the critical value, it is judged that the tool wear degree is at the second wear degree, and a signal is sent to replace the tool;

[0121] The critical value is a preset value set according to historical data of the cutting force exerted on the workpiece spindle.

[0122] Among them, when the tool wear degree is at the first wear degree, if the derivative function value corresponding to the cutting force change curve at any moment is less than zero, it is judged that the cutting force continues to decrease and the tool wear consumption is at the first consumption level;

[0123] If the derivative function value corresponding to the cutting force change curve at any moment is greater than zero, it is judged that the cutting force continues to increase and the tool wear consumption is at the second consumption level;

[0124] When the tool wear consumption is at the second consumption level, it is determined that the spindle speed and the feed speed of the tool spindle 53 or the internal grinding head spindle 55 do not match, and the ratio of the spindle speed to the feed speed is increased.

[0125] Specifically, a mismatch between the spindle speed and the feed speed can lead to increased tool wear or increased temperature of the internal grinding wheel, resulting in thermal deformation, and reduced workpiece machining accuracy. The method adjusts the spindle speed accordingly after the feed speed changes, and collects cutting force signals in real time through a force sensor installed on the workpiece spindle 62, analyzes the changing trend of the cutting force, and indirectly evaluates tool wear. It determines whether the spindle speed and feed speed match based on the tool wear degree and wear consumption level, thereby avoiding increased tool wear caused by a mismatch between the spindle speed and feed speed, and increasing the flexibility and adaptability of inspecting the machining parameters of the machine tool during the machine tool machining process.

[0126] The present invention provides a multi-axis composite machining machine tool, comprising:

[0127] The base 1 is in the shape of a right-angled trapezoid that is narrow at the top and wide at the bottom, and is used to carry various unit components of the processing machine tool;

[0128] A moving unit, which is located on the top of the base and connected to the base, and can move the processing unit in the X, Y and Z directions in a linked manner;

[0129] A machining unit, which is connected to the mobile unit, includes a tool magazine support 51, an automatic tool magazine 52, a tool spindle 53, a B-axis turntable 54 and an internal grinding head spindle 55, and can perform different machining processes on the workpiece through the linkage of several axes;

[0130] The cradle 6 adopts a trapezoidal groove structure and is located on the top of the Y-moving module 3. A guide rail mounting seat 61 is provided at the bottom of the cradle. The guide rail mounting seat has an adjustable locking device. A workpiece spindle 62 is provided in the middle of the cradle for clamping the workpiece to be processed and cooling it;

[0131] The mobile unit includes an X-direction mobile module 2, which is installed on the trapezoidal top of the base, and the installation surface close to the trapezoidal inclined surface of the base is concave, and a groove is provided on the inner concave side of the concave shape, and the X-direction mobile module is used to move the processing unit in the X direction;

[0132] A Y-direction moving module 3, which is installed on the trapezoidal slope of the base and has a rectangular cavity inside. The Y-direction moving module is used to move the processing unit in the Y direction;

[0133] The Z-direction moving module 4 is vertically arranged in front of the inner concave side of the X-direction moving module and can slide on the X-direction moving module toward the X-direction to move the processing unit in the Z-direction.

[0134] Further, the X-direction moving module is provided with three X-direction linear guide rails in the same plane, the plane where the X-direction linear guide rails are located is perpendicular to the installation bottom surface of the X-direction moving module, and the Z-direction moving module slides on the X-direction moving module through the X-direction linear guide rails;

[0135] A sunken rectangular cavity is arranged inside the Y-direction moving module, a wall panel is arranged around the rectangular cavity, a bottom panel is arranged at the bottom, the upper part of the rectangular cavity is open, and two Y-direction guide rails are arranged at the top of the rectangular cavity;

[0136] The Z-direction moving module is vertically provided with four Z-direction linear guide rails, and the processing unit moves in the Z-direction through the Z-direction linear guide rails. The Z-direction linear guide rails are provided with Z1 saddle 45 and Z2 saddle 46, and the Z1 saddle and Z2 saddle are driven by screw rods respectively and can be independently motion controlled.

[0137] Furthermore, the automatic tool change magazine is in a disc shape, which is located on the upper side of the X-axis moving module, connected to the X-axis moving module through the magazine support, and is used to accommodate a number of tools that can be installed on the tool spindle;

[0138] The B-axis turntable is connected to the Z1 saddle via a circular mounting seat provided on the Z1 saddle. The B-axis turntable can rotate around the Y-axis direction, and can achieve precise positioning and locking at any angle;

[0139] The tool spindle is arranged on the B-axis turntable and connected to the Z1 saddle through the B-axis turntable. The tool spindle can be linked with the moving unit to perform axial feeding and process the workpiece in different processes and at different angles.

[0140] The spindle of the internal grinding head is arranged on the Z2 saddle, and can control the movement of the grinding wheel of the internal grinding head relative to the inner axis of the workpiece through axial feed, adjust it in the radial direction, change the contact position of the grinding wheel and the inner surface of the workpiece, and change the contact angle of the grinding wheel through rotation and tilting.

[0141] Furthermore, the X-direction linear guide rail is divided into an X-direction first guide rail 21, an X-direction second guide rail 22 and an X-direction third guide rail 23 from bottom to top, the spacing between the X-direction first guide rail and the X-direction second guide rail is smaller than the spacing between the X-direction second guide rail and the X-direction third guide rail, a screw rod installation position 24 is provided between the X-direction first guide rail and the X-direction second guide rail, and an X-direction drive motor 25 of the screw rod is on the same side as the automatic tool change magazine;

[0142] The Y-direction guide rail is divided into a first Y-direction guide rail 31 and a second Y-direction guide rail 32, the Y-direction lead screw is installed on the inner side close to one of the Y-direction guide rails, and the Y-direction drive motor 26 of the Y-direction lead screw is installed in the middle and rear part of the base, located at the concave position of the concave X-direction moving module;

[0143] The Z-direction linear guide is divided into a Z1-direction first guide rail 41, a Z1-direction second guide rail 42, a Z2-direction first guide rail 43, and a Z2-direction second guide rail 44. A Z1-direction lead screw is installed between the Z1-direction first guide rail and the Z1-direction second guide rail, and a Z2-direction lead screw is installed between the Z2-direction first guide rail and the Z2-direction second guide rail. The Z-direction drive motor 27 of the Z1-direction lead screw and the Z2-direction lead screw is installed on the top of the Z-direction moving module. The Z1 saddle is installed on the Z1-direction first guide rail and the Z1-direction second guide rail, and the Z2 saddle is installed on the Z2-direction first guide rail and the Z2-direction second guide rail.

[0144] Furthermore, there is a forward-protruding mounting foot on the left and right sides below the X-axis moving module, and the mounting foot is arranged on the concave mounting seat of the base. The X-axis saddle is installed on the X-axis linear guide rail, and a gasket for adjusting the X-axis to be perpendicular to the Z-axis is arranged on the side of the mounting position of the X-axis linear guide rail.

[0145] The Z-axis moving module is slidably arranged in front of the X-axis moving module, and the Y-axis moving module is fixedly connected to the trapezoidal slope of the base. Specifically, the automatic tool changing magazine 52 adopts a disc-type design and can accommodate multiple tools. The tool is taken out of the magazine by a robotic arm and automatically installed on the spindle for processing, and the required tool is intelligently selected through the computer control system. The automatic positioning system automatically completes the positioning and clamping of the workpiece between different processing steps through an integrated robotic arm and an automatic tool changing system, reducing manual operations. The automatic positioning system includes a multi-axis linkage positioning platform, and is monitored and adjusted in real time through visual sensors and force sensors to ensure accurate positioning of the workpiece.

[0146] The B-axis turntable 54 can rotate around the Y-axis direction to achieve accurate positioning and locking at any angle. The tool spindle 53 is installed on the end face of the B-axis turntable 54, and the tool spindle 53 has an automatic tool changing function.

[0147] The core part of the internal grinding head spindle 55 is the grinding head spindle, on which a grinding wheel is mounted. The spindle is usually driven by an electric motor to rotate at high speed. The rotation of the grinding wheel generates a grinding force, which directly acts on the inner cylindrical surface of the workpiece for removal processing. The internal grinding head spindle 55 controls the movement of the grinding wheel relative to the inner cylindrical axis of the workpiece through axial feed, and adjusts in the radial direction, that is, changes the contact position between the grinding wheel and the inner surface of the workpiece to achieve grinding of different depths. The contact angle of the grinding wheel can also be changed by rotation and tilting, so that it can perform multi-angle grinding on the inner cylindrical surface of the workpiece, ensuring efficient processing of complex inner cylindrical shapes or deep holes, and performing fine grinding.

[0148] The internal grinding head spindle 55 is equipped with a five-axis linkage function, which can be independently adjusted and positioned in multiple directions. Compared with ordinary grinding heads that can only move in a single plane, the internal grinding head spindle 55 can more flexibly adapt to the grinding requirements of complex workpieces and process more complex workpiece shapes. The Z1 and Z2 saddles 46 are driven by the Z1 screw and the Z2 screw respectively, and can be independently motion controlled. At the same time, the left and right relative positions of the Z1 and Z2 saddles 46 are not limited to the current example, and can also be interchanged. The integrated milling and grinding characteristics brought by the tool spindle 53 and the internal grinding head spindle 55 enable the workpiece to complete both milling and grinding operations in a fixed position, reducing the error of workpiece transfer and improving processing accuracy. Combining the advantages of milling and grinding, rough machining and fine machining can be completed in the same process to ensure the consistency of the workpiece surface quality, which is particularly suitable for machining tasks with high precision and high surface quality requirements.

[0149] The cradle 6 structure is equipped with a built-in vibration reduction device and damping material to absorb vibrations caused by cutting force, machining process or external vibration sources, which can effectively reduce high-frequency vibrations generated during the operation of the machine tool and ensure high-precision machining. The load-bearing part of the cradle 6 adopts a reinforced structure and thickened design, which can support and evenly distribute the load from the workbench and the spindle to improve its load-bearing capacity, ensure that it does not deform during high-speed and high-load machining, and ensure stability under long-term high-load machining. A guide rail mounting seat 61 is provided at the bottom of the cradle 6. The installation position of the guide rail is fixed by high-precision machining and measurement technology, and ensures that the guide rail can maintain a stable relative position during operation, reducing errors caused by grinding forces or external interference. The guide rail mounting seat 61 has an adjustable locking device, which can ensure that the guide rail maintains high-precision positioning during long-term use and effectively resists the cutting force generated during machining. The design of cradle 6 adopts thermal expansion compensation technology, combined with internal heat dissipation channels, and uses a liquid cooling system to control the temperature change of cradle 6 in real time to reduce the processing error caused by thermal expansion. The heat dissipation system includes multiple heat dissipation pipes and coolant circulation devices, and the evenly distributed heat dissipation design effectively reduces the thermal deformation of cradle 6. At the same time, cradle 6 is composed of multiple replaceable modules, including support modules, vibration reduction modules and temperature control modules, which can be flexibly configured and adjusted according to different processing requirements. Each module is connected to other parts of the machine tool through a standardized interface, which simplifies the maintenance and upgrade process and improves the flexibility and maintainability of the machine tool.

[0150] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0151] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-axis compound machining machine tool, characterized in that: include: The base is a right-angled trapezoidal shape that is narrow at the top and wide at the bottom, and is used to carry the various unit components of the processing machine tool; A moving unit, which is located on the top of the base and connected to the base, and can move the processing unit in the X, Y and Z directions in a linked manner; A machining unit, which is connected to the mobile unit, includes a tool magazine support, an automatic tool changer magazine, a tool spindle, a B-axis turntable and an internal grinding head spindle, and can perform different machining processes on the workpiece through the linkage of several axes; The cradle adopts a trapezoidal groove structure and is located on the top of the Y-axis moving module. A guide rail mounting seat is provided at the bottom of the cradle. The guide rail mounting seat has an adjustable locking device. A workpiece spindle is provided in the middle of the cradle for clamping the workpiece to be processed and cooling it; The mobile unit comprises, An X-direction moving module is installed at the trapezoidal top of the base, the mounting surface close to the trapezoidal inclined surface of the base is in a concave shape, a groove is provided on the inner concave side of the concave shape, and the X-direction moving module is used to move the processing unit in the X direction; A Y-direction moving module, which is installed on the trapezoidal slope of the base and has a rectangular cavity inside, and the Y-direction moving module is used to move the processing unit in the Y direction; The Z-direction moving module is vertically arranged in front of the inner concave side of the X-direction moving module and can slide on the X-direction moving module toward the X-direction, so as to move the processing unit in the Z-direction.

2. The multi-axis compound machining machine tool according to claim 1, characterized in that: The X-direction moving module is provided with three X-direction linear guide rails in the same plane, the plane where the X-direction linear guide rails are located is perpendicular to the installation bottom surface of the X-direction moving module, and the Z-direction moving module slides on the X-direction moving module through the X-direction linear guide rails; A sunken rectangular cavity is arranged inside the Y-direction moving module, a wall panel is arranged around the rectangular cavity, a bottom panel is arranged at the bottom, the upper part of the rectangular cavity is open, and two Y-direction guide rails are arranged at the top of the rectangular cavity; The Z-direction moving module is vertically provided with four Z-direction linear guide rails, and the processing unit moves in the Z-direction through the Z-direction linear guide rails. The Z-direction linear guide rails are provided with a Z1 saddle and a Z2 saddle, and the Z1 saddle and the Z2 saddle are driven by screw rods respectively and can be independently motion controlled.

3. The multi-axis compound machining machine tool according to claim 1, characterized in that: The automatic tool change magazine is in the shape of a disc, which is located on the upper side of the X-axis moving module, connected to the X-axis moving module through the magazine support, and is used to accommodate a number of tools that can be installed on the tool spindle; The B-axis turntable is connected to the Z1 saddle via a circular mounting seat provided on the Z1 saddle. The B-axis turntable can rotate around the Y-axis direction, and can achieve precise positioning and locking at any angle; The tool spindle is arranged on the B-axis turntable and connected to the Z1 saddle through the B-axis turntable. The tool spindle can be linked with the moving unit to perform axial feeding and process the workpiece in different processes and at different angles. The spindle of the internal grinding head is arranged on the Z2 saddle, and can control the movement of the grinding wheel of the internal grinding head relative to the inner axis of the workpiece through axial feed, adjust it in the radial direction, change the contact position of the grinding wheel and the inner surface of the workpiece, and change the contact angle of the grinding wheel through rotation and tilting.

4. The multi-axis compound machining machine tool according to claim 2, characterized in that: The X-direction linear guide rail is divided into an X-direction first guide rail, an X-direction second guide rail and an X-direction third guide rail from bottom to top, the spacing between the X-direction first guide rail and the X-direction second guide rail is smaller than the spacing between the X-direction second guide rail and the X-direction third guide rail, a lead screw installation position is provided between the X-direction first guide rail and the X-direction second guide rail, and the X-direction drive motor of the lead screw is on the same side as the automatic tool change magazine; The Y-direction guide rail is divided into a first Y-direction guide rail and a second Y-direction guide rail, the Y-direction lead screw is installed on the inner side close to one of the Y-direction guide rails, and the Y-direction drive motor of the Y-direction lead screw is installed at the middle and rear part of the base, located at the concave position of the concave X-direction moving module; The Z-direction linear guide is divided into a first Z1-direction guide, a second Z1-direction guide, a first Z2-direction guide, and a second Z2-direction guide. A Z1-direction lead screw is installed between the first Z1-direction guide and the second Z1-direction guide, and a Z2-direction lead screw is installed between the first Z2-direction guide and the second Z2-direction guide. The Z-direction drive motors of the Z1-direction lead screw and the Z2-direction lead screw are installed on the top of the Z-direction moving module. The Z1 saddle is installed on the first Z1-direction guide and the second Z1-direction guide, and the Z2 saddle is installed on the first Z2-direction guide and the second Z2-direction guide.

5. The multi-axis compound machining machine tool according to claim 1, characterized in that: There is a forward-protruding mounting foot on the left and right sides below the X-axis moving module, respectively, and the mounting foot is arranged on the concave mounting seat of the base.

6. The multi-axis compound machining machine tool according to claim 4, characterized in that: The X-axis saddle is installed on the X-axis linear guide rail, and a gasket for adjusting the X-axis to be perpendicular to the Z-axis is arranged on the side of the installation position of the X-axis linear guide rail.

7. The multi-axis compound machining machine tool according to claim 2, characterized in that: The Z-direction moving module is slidably arranged in front of the X-direction moving module, and the Y-direction moving module is fixedly connected to the trapezoidal inclined surface of the base.

8. An intelligent control method for a multi-axis compound machining machine tool according to any one of claims 1 to 7, characterized in that: include: Controlling the machining unit to perform a test run on a right-angle trapezoidal base, and establishing a tool spindle coordinate system and an internal grinding head spindle coordinate system according to the tool spindle and the internal grinding head spindle in the machining unit; The machining unit is moved by linkage control of the X-axis moving module, the Y-axis moving module and the Z-axis moving module. The movement error of the moving unit is determined based on the coordinate difference of the origin of the coordinate system, and the error level of the positioning accuracy of the machine tool is determined based on the difference evaluation value. Calculate the vector coordinates between the origins of the coordinate system, adjust the fast moving speed and the feed speed of the mobile module in the mobile unit, and determine the adjustment amplitude and the adjustment object according to the coordinate values ​​in the vector coordinates; Obtain a number of coordinate differences to determine the repeatability level of the machine tool, and use the average value of the coordinate differences to determine the error level of the machine tool positioning accuracy. Selecting a tool required for processing in the processing unit and processing through the processing unit, during which the processing unit processes the workpiece clamped on the cradle, detecting the cutting force on the workpiece spindle in the cradle, judging the tool wear degree of the tool spindle and the internal grinding head spindle in the processing unit, and taking corresponding measures according to the tool wear degree; Analyze the changing trend of cutting force, determine the consumption level of tool wear according to the changing trend of cutting force, and adjust the ratio of spindle speed and feed speed of tool spindle and internal grinding head spindle.

9. The intelligent control method for a multi-axis composite machining machine tool according to claim 1, characterized in that: Before machining the workpiece, the machining machine tool is tested to establish the tool spindle coordinate system and the internal grinding head spindle coordinate system; The tool spindle coordinate system is constructed by taking the spindle center of the tool spindle as the origin, the direction from the origin to the automatic tool change magazine as the negative direction of the X-axis, the direction from the origin to the workpiece as the positive direction of the Y-axis, and the direction from the origin vertically upward as the positive direction of the Z-axis; The method for constructing the internal grinding head spindle coordinate system is as follows: the spindle center of the internal grinding head spindle is taken as the origin, the direction of the automatic tool change magazine through the origin is the negative direction of the X-axis, the direction of the workpiece through the origin is the positive direction of the Y-axis, and the positive direction of the Z-axis is vertically upward through the origin; After the trial operation switching process, the coordinate difference between the origin of the tool spindle coordinate system and the internal grinding head spindle coordinate system is calculated; If the coordinate difference is less than or equal to the difference evaluation value, it is judged that the movement error of the moving unit is within the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the first error level; If the coordinate difference is greater than the difference evaluation value, it is judged that the movement error of the mobile unit exceeds the allowable range of the positioning error, and the positioning accuracy of the machine tool is at the second error level; When the positioning accuracy of the machine tool is at the second error level, the vector coordinates between the origin coordinates are calculated, and the vector coordinates include a horizontal coordinate, a longitudinal coordinate, and a vertical coordinate; If the horizontal coordinate is a positive value, the X-direction fast moving speed of the X-direction moving module is increased; If the horizontal coordinate is a negative value, the X-direction fast moving speed of the X-direction moving module is reduced, and the increase and decrease amplitude of the X-direction fast moving speed is proportional to the absolute value of the horizontal coordinate; If the longitudinal coordinate is a positive value, the Y-direction fast moving speed of the Y-direction moving module is increased; If the longitudinal coordinate is a negative value, the Y-direction fast moving speed of the Y-direction moving module is reduced, and the increase and decrease amplitude of the Y-direction fast moving speed is proportional to the absolute value of the longitudinal coordinate; If the vertical coordinate is a positive value, the Z-direction feed speed of the Z-direction moving module is increased; If the vertical coordinate is a negative value, the Z-direction feed speed of the Z-direction moving module is reduced, and the increase and decrease amplitude of the Z-direction feed speed is proportional to the absolute value of the vertical coordinate; At the same time, the position of the spindle of the internal grinding head is adjusted according to the horizontal coordinate, the longitudinal coordinate and the vertical coordinate in the vector coordinate; The coordinate difference is calculated by switching the process multiple times at a preset number of times, and the average value of the difference between several coordinate differences is calculated. If the average value of the difference is less than or equal to the standard value, it is judged that the repeatability of the machine tool is at the first positioning level; If the average value of the difference is greater than the standard value, it is determined that the repeatability of the machine tool is at the second positioning level, and the difference evaluation value is adjusted back.

10. The intelligent control method for a multi-axis composite machining machine tool according to claim 8, characterized in that: The cutting force on the workpiece spindle is detected in real time by a force sensor installed on the workpiece spindle, and a cutting force variation curve of the cutting force varying with time is plotted, and the derivative function of the cutting force variation curve is calculated accordingly; If the cutting force in the cutting force variation curve at any moment is less than or equal to the critical value, it is judged that the tool wear degree is at the first wear degree; If the cutting force in the cutting force variation curve at any moment is greater than the critical value, it is judged that the tool wear degree is at the second wear degree, and a signal is sent to replace the tool; When the tool wear degree is at the first wear degree, if the derivative function value corresponding to the cutting force change curve at any moment is less than zero, it is judged that the cutting force continues to decrease and the tool wear consumption is at the first consumption level; If the derivative function value corresponding to the cutting force change curve at any moment is greater than zero, it is judged that the cutting force continues to increase and the tool wear consumption is at the second consumption level; When the tool wear consumption is at the second consumption level, it is determined that the spindle speed and the feed speed of the tool spindle or the internal grinding head spindle do not match, and the ratio of the spindle speed to the feed speed is increased.

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