Movable beam and movable column type numerical control planer type milling machine

Abstract

The movable beam and movable column type numerical control planer type milling machine comprises a portal frame, a milling mechanism used for milling machining is arranged on one side of the portal frame, a three-axis linkage mechanism used for achieving three-dimensional space positioning and moving of the milling mechanism is arranged on the portal frame, and a workbench used for bearing workpieces is arranged below the portal frame; through cooperative use of the connecting assembly and the fixing assembly, connecting and fixing of the milling cutter assembly and the universal milling head can be achieved, the milling cutter assembly can be stably installed on the universal milling head, meanwhile, when the milling cutter assembly is replaced, manual operation of the fixing assembly is not needed, the labor intensity of workers is reduced, and the replacement efficiency is improved; through cooperative use of the connecting assembly, the fixing assembly, the storage mechanism and the cutter replacing mechanism, the whole replacement process of the milling cutter assembly does not need manual operation, replacement and wiping of the milling cutter assembly can be completed, the automation degree is high, and the working efficiency is improved while the labor cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of milling machines, and more specifically, to a moving beam and moving column type CNC gantry milling machine. Background Art

[0002] A milling machine mainly refers to a machine tool that processes various surfaces of a workpiece with a milling cutter. Usually, the rotational movement of the milling cutter is the main movement, and the movement of the workpiece and the milling cutter is the feed movement. It can machine planes, grooves, and can also machine various curved surfaces, gears, etc. There are various classification forms of gantry machines. According to whether the gantry moves, it is divided into gantry fixed table mobile type and table fixed gantry mobile type. According to whether the crossbeam moves on the column, it is divided into moving beam type and fixed beam type. Among them, in order to ensure processing factors such as the structural stability, high speed, and high precision of the machining center, a moving beam and moving column type CNC gantry milling machine is usually used for milling.

[0003] A patent document with the publication number of CN220992914U discloses a milling machine that is convenient for installing a milling cutter, including a milling machine body and a milling cutter. The milling machine body is provided with a mounting seat. It is characterized in that a fixing hole is provided on the front end face of the mounting seat, a side groove is axially provided on one side of the fixing hole, the side groove extends backward and is connected to a power structure, a locking rod is slidably fitted in the side groove, a protrusion is provided on one side of the front end of the locking rod close to the fixing hole, the tool shank of the milling cutter is adapted to the fixing hole, and a groove adapted to the protrusion is provided on the side wall of the tool shank of the milling cutter. When in use, first extend the locking rod forward out of the fixing hole, then insert the tool shank of the milling cutter into the fixing hole with the groove corresponding to the protrusion placed, and then pull the locking rod backward. Since the protrusion and the groove are adapted, once the protrusion drives the tool shank of the milling cutter to move to the fixing groove, the milling cutter will be quickly locked in the fixing hole. The milling cutter can be fixed quickly and conveniently, and is fixed very firmly. The protrusion of the locking rod is used for fixing, and the power structure is separated from the protrusion.

[0004] Although the above-mentioned milling machine that is convenient for installing a milling cutter can solve the corresponding technical problems, when installing and disassembling the milling cutter, it requires manual operation. Manual installation of the milling cutter is not only more cumbersome, time-consuming and laborious, but also when milling large workpieces, the size and weight of the used milling cutter also change, thereby increasing the manual labor intensity and making it difficult to quickly install the milling cutter.

[0005] Therefore, a moving beam and moving column type CNC gantry milling machine is proposed. Summary of the Invention

[0006] The technical task of the present invention is to provide a moving beam and moving column type CNC gantry milling machine to solve the above-mentioned problems.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A moving beam and moving column type CNC gantry milling machine includes a gantry frame, on one side of which there is a milling mechanism for milling processing. A three-axis linkage mechanism for realizing three-dimensional spatial positioning and movement of the milling mechanism is provided on the gantry frame, and a workbench for carrying workpieces is provided below the gantry frame.

[0009] Among them, the milling mechanism includes a support shell arranged on the three-axis linkage mechanism. A motor A is movably connected in the inner cavity of the support shell. An electric telescopic rod A is installed in the inner cavity of the support shell. The output end of the electric telescopic rod A is fixedly connected to the motor A. A universal milling head is installed on the output shaft of the motor A. A connecting component is provided on the universal milling head, and a fixing component for fixing the milling cutter component is provided on the connecting component.

[0010] A storage mechanism for storing different types of milling cutter components is provided on the side of the gantry frame. A tool changing mechanism for realizing automatic tool change of the milling cutter component is provided on the three-axis linkage mechanism. A control cabinet is installed on one side of the gantry frame away from the storage mechanism, and the control cabinet is used to control the coordinated work of the milling mechanism, the three-axis linkage mechanism, the storage mechanism and the tool changing mechanism.

[0011] Preferably, the connecting component includes a tool holder installed on the universal milling head. An installation hole and a cavity are sequentially formed in the center of the tool holder from bottom to top. The milling cutter component is arranged in the installation hole, and the fixing component is arranged in the cavity.

[0012] Among them, the installation hole includes a jack formed at the bottom of the tool holder. A limiting hole is communicated between the top of the inner cavity of the jack and the bottom of the inner cavity of the cavity. The width of the limiting hole is smaller than the diameter of the jack.

[0013] The milling cutter component includes a tool rod inserted into the inner cavity of the jack. A limiting block is fixedly connected to the top of the tool rod. The limiting block is clamped into the inner cavity of the limiting hole. A positioning groove for cooperating with the fixing component is formed in the upper part of the surface of the tool rod, and a plurality of the positioning grooves are annularly and equidistantly distributed.

[0014] The fixing component includes a plurality of pins movably penetrating through the surface of the tool holder and annularly and equidistantly distributed. The number of the pins is the same as that of the positioning grooves, and the pins and the positioning grooves are arranged in one-to-one correspondence. One end of the pin is inserted into the inner cavity of the corresponding positioning groove. A pushing and pulling component for driving the plurality of pins to synchronously face or move away from the tool rod is arranged in the inner cavity of the cavity.

[0015] The pushing and pulling component includes an electric telescopic rod B installed in the inner cavity of the cavity. A push block is installed at the output end of the electric telescopic rod B. A V-shaped rod with the same number as the pins is integrally formed on the surface of the push block. The V-shaped rods and the pins are arranged in one-to-one correspondence. One end of the V-shaped rod away from the push block is movably connected to the pin.

[0016] A through hole A for the insertion pin to pass through is formed on the surface of the tool holder. A limiting member for guiding the insertion pin is provided between the through hole A and the insertion pin. A through hole B for the V-shaped rod to pass through is also formed on the surface of the tool holder. An inclined hole for the end of the V-shaped rod to pass through is formed on the surface of the insertion pin. The inner wall surfaces of the inclined hole and the through hole B are respectively in sliding connection with the surface of the V-shaped rod.

[0017] Preferably, the limiting member includes a convex block provided on the inner wall surface of the through hole A. The convex block and the tool holder are of an integrally formed structure. A groove adapted to the convex block is formed on the surface of the insertion pin. The inner wall surface of the groove is in sliding connection with the surface of the corresponding convex block.

[0018] Preferably, the three-axis linkage mechanism includes two Z-direction moving devices symmetrically arranged on both sides of the bottom of the gantry. The gantry is installed on the sliding tables of the two Z-direction moving devices. An X-direction moving device is provided on one side of the gantry. The support shell is installed on the sliding table of the X-direction moving device. Two symmetrically arranged Y-direction moving devices are provided on the side of the gantry facing the X-direction moving device. The X-direction moving device is installed on the sliding tables of the two Y-direction moving devices.

[0019] Preferably, the workbench is installed between the two Z-direction moving devices. The control cabinet is installed on the sliding table of one of the Z-direction moving devices. The control cabinet and the storage mechanism are arranged opposite to each other.

[0020] Preferably, the storage mechanism includes a frame installed on the side of the gantry away from the control cabinet. A conveyor is installed in the inner cavity of the frame. A plurality of storage cylinders for inserting and placing milling cutter assemblies of different models are fixedly connected to the side of the conveyor belt away from the gantry at equal intervals.

[0021] Preferably, the tool changing mechanism includes an adjustment component. The adjustment component is provided on the sliding table of the X-direction moving device close to the frame side. The adjustment component is located below the X-direction moving device. A clamping component for clamping the milling cutter assembly is provided on the adjustment component;

[0022] Among them, the adjustment component includes a guide rail installed on the corresponding sliding table of the X-direction moving device. A moving trolley is provided at the bottom of the guide rail. An adjustment member is provided between the moving trolley and the clamping component.

[0023] Preferably, the adjustment member includes an electric telescopic rod C installed at the bottom of the moving trolley. The output end of the electric telescopic rod C is installed with a bracket. An electric telescopic rod D is installed in the inner cavity of the bracket. The output end of the electric telescopic rod D is installed with a motor B. The clamping component is provided on the output shaft of the motor B.

[0024] Preferably, the clamping component includes a support member provided on the output shaft of the motor B, and clamping members for clamping the milling cutter component are provided on both sides of the support member;

[0025] The support member includes a support plate fixedly connected to the output shaft of the motor B, and side grooves are formed on both sides of the support plate, and the clamping members are arranged in the inner cavities of the side grooves;

[0026] The clamping member includes an electric telescopic rod E installed in the side groove, the output end of the electric telescopic rod E is fixedly connected with a moving block, connecting rods are respectively rotatably connected to both sides of the moving block, and the end of the connecting rod far away from the moving block is rotatably connected with a clamping plate, and the clamping plate is rotatably connected with the support plate.

[0027] Preferably, the motor A, the electric telescopic rod A, the universal milling head, the plug pin, the Z-direction moving device, the X-direction moving device, the Y-direction moving device, the conveyor, the moving trolley, the electric telescopic rod C, the electric telescopic rod D, the motor B, and the electric telescopic rod E are respectively electrically connected to the controller in the control cabinet, and the controller in the control cabinet can adjust the working states or parameters of the motor A, the electric telescopic rod A, the universal milling head, the plug pin, the Z-direction moving device, the X-direction moving device, the Y-direction moving device, the conveyor, the moving trolley, the electric telescopic rod C, the electric telescopic rod D, the motor B, and the electric telescopic rod E.

[0028] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0029] 1. In the present invention, through the combined use of the connecting component and the fixing component, the connection and fixation between the milling cutter component and the universal milling head can be realized, so that the milling cutter component can be stably installed on the universal milling head. At the same time, when replacing the milling cutter component, there is no need to manually operate the fixing component, so as to reduce the manual labor intensity and improve the replacement efficiency;

[0030] 2. In the present invention, through the combined use of the connecting component, the fixing component, the storage mechanism and the tool changing mechanism, the entire replacement process of the milling cutter component can be completed without manual operation, and the automation degree is high. While saving labor costs, the work efficiency is also improved;

[0031] 3. In the present invention, through the combined use of the milling mechanism and the three-axis linkage mechanism, the high-speed and high-precision movement of the milling cutter component can be realized to meet various complex milling requirements, thereby improving the applicable range of the moving beam and moving column type CNC gantry milling machine;

[0032] 4. In the present invention, through the setting of the workbench, a stable support platform can be provided for the workpiece to be processed, ensuring that the workpiece will not move or shake during the processing, so as to ensure the positioning accuracy and surface quality of the workpiece during milling processing. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for use in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0034] Figure 1 Structural schematic of the embodiment of the present invention Figure 1 ;

[0035] Figure 2 Structural schematic of the embodiment of the present invention Figure 2 ;

[0036] Figure 3 Structural schematic diagram of the milling mechanism of the embodiment of the present invention;

[0037] Figure 4 Structural schematic diagram of the connection component, milling cutter component and fixing component of the embodiment of the present invention;

[0038] Figure 5 Sectioned structural schematic diagram of the connection component, milling cutter component and fixing component of the embodiment of the present invention;

[0039] Figure 6 Exploded structural schematic diagram of the connection component and milling cutter component of the embodiment of the present invention;

[0040] Figure 7 Structural schematic diagram of the fixing component of the embodiment of the present invention;

[0041] Figure 8 Structural schematic diagram of the gantry, storage mechanism and tool changing mechanism of the embodiment of the present invention;

[0042] Figure 9 Partial structural schematic diagram of the tool changing mechanism of the embodiment of the present invention;

[0043] Figure 10 Exploded partial structural schematic diagram of the clamping component of the embodiment of the present invention;

[0044] Figure 11 Structural schematic diagram of the storage cylinder and rubber strip of the embodiment of the present invention.

[0045] In the figure: 100, gantry;

[0046] 200. Milling mechanism; 210. Support shell; 220. Motor A; 230. Electric telescopic rod A; 240. Universal milling head; 250. Connection component; 251. Tool holder; 2511. Through hole A; 2512. Through hole B; 2513. Bump; 252. Jack; 253. Limit hole; 254. Cavity; 260. Milling cutter component; 261. Tool bar; 262. Limit block; 263. Positioning groove; 270. Fixing component; 271. Plug pin; 2711. Oblique hole; 2712. Groove; 272. Push-pull component; 2721. Electric telescopic rod B; 2722. Push block; 2723. V-shaped rod;

[0047] 300. Three-axis linkage mechanism; 310. Z-direction moving device; 320. X-direction moving device; 330. Y-direction moving device;

[0048] 400. Workbench;

[0049] 500. Storage mechanism; 510. Frame; 520. Conveyor; 530. Storage cylinder; 531. Rubber strip;

[0050] 600. Tool change mechanism; 610. Position adjustment component; 611. Guide rail; 612. Moving trolley; 613. Electric telescopic rod C; 614. Support; 615. Electric telescopic rod D; 616. Motor B; 620. Gripping component; 621. Support member; 6211. Support plate; 6212. Side groove; 6213. Through groove; 622. Clamping member; 6221. Electric telescopic rod E; 6222. Moving block; 6223. Connecting rod; 6224. Clamping plate;

[0051] 700. Control cabinet. Detailed implementation mode

[0052] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] Embodiment 1

[0055] As Figures 1 - 11As shown in the figure, a moving beam and moving column type CNC gantry milling machine according to an embodiment of the present invention includes a gantry 100, a milling mechanism 200 for milling processing, a three-axis linkage mechanism 300 for realizing three-dimensional spatial positioning and movement of the milling mechanism 200, and a workbench 400 for carrying workpieces. The milling mechanism 200 is arranged on one side of the gantry 100 through the three-axis linkage mechanism 300, and the workbench 400 is arranged below the gantry 100; the milling mechanism 200 includes a support shell 210 arranged on the three-axis linkage mechanism 300. An electric motor A220 is movably connected to the inner cavity of the support shell 210. An electric telescopic rod A230 is installed in the inner cavity of the support shell 210. The output end of the electric telescopic rod A230 is fixedly connected to the electric motor A220. A universal milling head 240 is installed on the output shaft of the electric motor A220. A connection assembly 250 is arranged on the universal milling head 240. A fixing assembly 270 for fixing the milling cutter assembly 260 is arranged on the connection assembly 250; a storage mechanism 500 for storing different types of milling cutter assemblies 260 is arranged on the side of the gantry 100. A tool changing mechanism 600 for automatically changing the milling cutter assembly 260 is arranged on the three-axis linkage mechanism 300. A control cabinet 700 is installed on one side of the gantry 100 away from the storage mechanism 500. The control cabinet 700 is used to control the milling mechanism 200, the three-axis linkage mechanism 300, the storage mechanism 500, and the tool changing mechanism 600 to work together to realize automatic milling of workpieces.

[0056] Embodiment 2

[0057] As Figures 1 - 11 shown, a moving beam and moving column type CNC gantry milling machine provided in this embodiment is different from that in Embodiment 1 in that:

[0058] The connection assembly 250 includes a tool holder 251 installed on the universal milling head 240. An installation hole and a cavity 254 are sequentially formed in the center of the tool holder 251 from bottom to top. The milling cutter assembly 260 is arranged in the installation hole, and the fixing assembly 270 is arranged in the cavity 254; the installation hole includes an insertion hole 252 formed at the bottom of the tool holder 251. A limiting hole 253 is communicated between the top of the inner cavity of the insertion hole 252 and the bottom of the inner cavity of the cavity 254. The width of the limiting hole 253 is smaller than the diameter of the insertion hole 252.

[0059] The milling cutter assembly 260 includes a cutter bar 261 inserted into the inner cavity of the jack 252. A limit block 262 is fixedly connected to the top of the cutter bar 261. The limit block 262 is clamped into the inner cavity of the limit hole 253. A positioning groove 263 for cooperating with the fixing assembly 270 is provided in the upper part of the surface of the cutter bar 261. A plurality of positioning grooves 263 are annularly and equidistantly distributed. Insert the cutter bar 261 into the inner cavity of the jack 252 and clamp the limit block 262 into the inner cavity of the limit hole 253, then the cutter bar 261 can be limited, so that the cutter bar 261 will not rotate in the inner cavity of the jack 252. And when there is a difference between the width of the limit hole 253 and the diameter of the jack 252, it can prevent the cutter bar 261 from moving excessively into the inner cavity of the cavity 254 in the jack 252, which is convenient for the subsequent clamping cooperation between the fixing assembly 270 and the positioning groove 263.

[0060] The fixing component 270 includes a plurality of pins 271 that movably penetrate the surface of the tool holder 251 and are evenly distributed in a circular pattern. The number of pins 271 is the same as that of the positioning grooves 263, and the pins 271 and the positioning grooves 263 are arranged in a one-to-one correspondence. One end of the pin 271 is inserted into the inner cavity of the corresponding positioning groove 263. Inside the inner cavity of the cavity 254, there is a push-pull component 272 for driving the plurality of pins 271 to move synchronously towards or away from the tool bar 261. When the pin 271 is inserted into the inner cavity of the positioning groove 263, the position of the tool bar 261 in the insertion hole 252 can be further restricted, so that the milling cutter assembly 260 can be stably placed in the mounting hole to achieve the connection and fixation of the milling cutter assembly 260 and the connection component 250. The push-pull component 272 includes an electric telescopic rod B2721 installed in the inner cavity of the cavity 254 along the Y-axis direction. The output end of the electric telescopic rod B2721 is arranged downward, and a push block 2722 is installed at the output end of the electric telescopic rod B2721. On the surface of the push block 2722, there are integrally formed V-shaped rods 2723 with the same number as the pins 271. The V-shaped rods 2723 and the pins 271 are arranged in a one-to-one correspondence. One end of the V-shaped rod 2723 away from the push block 2722 is movably connected to the pin 271. By starting the electric telescopic rod B2721, the output end of the electric telescopic rod B2721 can drive the plurality of pins 271 to move synchronously towards or away from each other through the push block 2722 and the V-shaped rods 2723, so that the pins 271 approach or move away from the mounting hole. On the surface of the tool holder 251, there is a through hole A2511 for the pin 271 to pass through. Between the through hole A2511 and the pin 271, there is a limiting member for guiding the pin 271. On the surface of the tool holder 251, there is also a through hole B2512 for the V-shaped rod 2723 to pass through. On the surface of the pin 271, there is an inclined hole 2711 for the end of the V-shaped rod 2723 to pass through. The inner wall surfaces of the inclined hole 2711 and the through hole B2512 are respectively slidably connected to the surface of the V-shaped rod 2723. Through the combined use of the through hole A2511, the through hole B2512 and the inclined hole 2711, the movable connection between the pin 271 and the tool holder 251, the V-shaped rod 2723 and the tool holder 251, and the V-shaped rod 2723 and the pin 271 can be realized, and the relative displacement of the pin 271 and the V-shaped rod 2723 in the horizontal and vertical directions can be satisfied. The limiting member includes a convex block 2513 provided on the inner wall surface of the through hole A2511. The convex block 2513 and the tool holder 251 are an integrally formed structure. On the surface of the pin 271, there is a groove 2712 adapted to the convex block 2513. The inner wall surface of the groove 2712 is slidably connected to the surface of the corresponding convex block 2513. When the push-pull component 272 drives the pin 271 to move in the inner cavity of the through hole A2511, it can drive the groove 2712 to move synchronously, so that the convex block 2513 can slide in the inner cavity of the groove 2712, enabling the pin 271 to stably slide in the inner cavity of the through hole A2511, effectively avoiding the phenomenon that the pin 271 turns and causes jamming between the pin 271 and the V-shaped rod 2723.

[0061] The three-axis linkage mechanism 300 includes two Z-direction moving devices 310 symmetrically arranged on both sides of the bottom of the gantry 100 along the Z-axis direction. The gantry 100 is installed on the sliders of the two Z-direction moving devices 310. An X-direction moving device 320 is arranged along the X-axis direction on one side of the gantry 100. The support housing 210 is installed on the slider of the X-direction moving device 320. By the combined use of the Z-direction moving device 310, the X-direction moving device 320, and the X-direction moving device 320, the distance between the milling cutter assembly 260 and the workpiece can be accurately adjusted to meet the milling operations at different positions of different workpieces. On the side of the gantry 100 facing the X-direction moving device 320, there are two Y-direction moving devices 330 symmetrically arranged along the Y-axis direction. The X-direction moving device 320 is installed on the sliders of the two Y-direction moving devices 330. By the Y-direction moving device 330, the extension amount of the electric telescopic rod A230 can be effectively reduced.

[0062] The workbench 400 is installed between the two Z-direction moving devices 310 along the Z-axis direction. The control cabinet 700 is installed on the slider of one of the Z-direction moving devices 310. The control cabinet 700 and the storage mechanism 500 are arranged opposite to each other.

[0063] The storage mechanism 500 includes a frame 510 installed on the side of the gantry 100 away from the control cabinet 700. A conveyor 520 is installed in the inner cavity of the frame 510. A plurality of storage cylinders 530 for inserting milling cutter assemblies 260 of different models and evenly distributed at equal intervals are fixedly connected to the side of the conveyor belt of the conveyor 520 away from the gantry 100. Different models of milling cutter assemblies 260 can be stored through the storage mechanism 500, which is convenient for timely taking the corresponding milling cutter assembly 260 for replacement according to the milling requirements. By starting the conveyor 520, the milling cutter assembly 260 on the storage cylinder 530 can be moved to bring the required milling cutter assembly 260 close to the tool changing mechanism 600, which is convenient for the subsequent tool changing mechanism 600 to perform the tool changing operation on the milling cutter assembly 260. A plurality of rubber strips 531 are fixedly connected to the inner wall surface of the storage cylinder 530 and are evenly distributed in a ring shape. The rubber strips 531 can increase the friction force between the inner wall surface of the storage cylinder 530 and the surface of the milling cutter assembly 260, playing an anti-slip role, and thus effectively improving the stability of the milling cutter assembly 260 inserted in the storage cylinder 530.

[0064] The tool changing mechanism 600 includes an adjustment component 610. The adjustment component 610 is arranged on the slide table of the X-direction moving device 320 close to one side of the frame 510. The adjustment component 610 is located below the X-direction moving device 320, and a gripper component 620 for gripping the milling cutter component 260 is arranged on the adjustment component 610; The adjustment component 610 includes a guide rail 611 installed on the corresponding slide table of the X-direction moving device 320. A moving trolley 612 is arranged at the bottom of the guide rail 611. An adjustment member is arranged between the moving trolley 612 and the gripper component 620. By starting the moving trolley 612, the moving trolley 612 can drive the adjustment member and the gripper component 620 to move along the guide rail 611, so as to drive the gripper component 620 to move to a specified position to grip the milling cutter component 260; The adjustment member includes an electric telescopic rod C613 vertically installed at the bottom of the moving trolley 612. The output end of the electric telescopic rod C613 is installed with a bracket 614. The inner cavity of the bracket 614 is installed with a horizontally arranged electric telescopic rod D615. The output end of the electric telescopic rod D615 is installed with a motor B616. The gripper component 620 is arranged on the output shaft of the motor B616. By starting the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616 and the gripper component 620 can be driven to move in the vertical direction, so that the center of the gripper component 620 and the installation hole can be on the same horizontal line; By starting the electric telescopic rod D615, the motor B616 and the gripper component 620 can be driven to move in the horizontal direction, so that the gripper component 620 can approach or move away from the installation hole and the storage cylinder 530, so as to realize the insertion or removal operation of the milling cutter component 260; By starting the motor B616, the gripper component 620 can be driven to rotate 180 degrees each time, so that the two milling cutter components 260 gripped by the gripper component 620 can exchange positions; The gripper component 620 includes a support member 621 arranged on the output shaft of the motor B616. Clamping members 622 for gripping the milling cutter component 260 are arranged on both sides of the support member 621; The support member 621 includes a support plate 6211 fixedly connected to the output shaft of the motor B616. Side grooves 6212 are opened on both sides of the support plate 6211, and the clamping members 622 are arranged in the inner cavities of the side grooves 6212;The clamping member 622 includes an electric telescopic rod E6221 horizontally installed in the side groove 6212. The output end of the electric telescopic rod E6221 is fixedly connected with a moving block 6222. The two sides of the moving block 6222 are respectively rotationally connected with a connecting rod 6223 through a rotating shaft. The end of the connecting rod 6223 away from the moving block 6222 is rotationally connected with a clamping plate 6224 through a rotating shaft. The clamping plate 6224 is rotationally connected with the support plate 6211 through a rotating shaft. By starting the electric telescopic rod E6221, the output end of the electric telescopic rod E6221 can drive the moving block 6222 to move in the support member 621. The moving block 6222 drives the connecting rod 6223 to move synchronously, causing the oblique cutting angle of the connecting rod 6223 to change. The connecting rod 6223 drives the clamping plate 6224 to rotate, so that the adjacent two clamping plates 6224 can perform opening or closing operations, and then the loosening or clamping operation of the milling cutter assembly 260 can be achieved. Through grooves 6213 communicating with the side grooves 6212 are formed on both sides of the surface of the support plate 6211. The through grooves 6213 can increase the accommodation space for the electric telescopic rod E6221, avoiding the phenomenon that it is difficult to install the electric telescopic rod E6221 due to the small space in the side groove 6212. A rubber pad is fixedly connected to the inner wall surface of the clamping plate 6224, which can increase the friction between the tool shank 261 and the inner wall surface of the clamping plate 6224, helping to improve the stability of the clamping plate 6224 during clamping, and at the same time avoiding the phenomenon that the surface of the tool shank 261 is worn due to excessive clamping force of the clamping plate 6224.;

[0065] The motor A220, the electric telescopic rod A230, the universal milling head 240, the plug pin 271, the Z-direction moving device 310, the X-direction moving device 320, the Y-direction moving device 330, the conveyor 520, the moving trolley 612, the electric telescopic rod C613, the electric telescopic rod D615, the motor B616 and the electric telescopic rod E6221 are respectively electrically connected to the controller in the control cabinet 700. The controller in the control cabinet 700 can adjust the working states or parameters of the motor A220, the electric telescopic rod A230, the universal milling head 240, the plug pin 271, the Z-direction moving device 310, the X-direction moving device 320, the Y-direction moving device 330, the conveyor 520, the moving trolley 612, the electric telescopic rod C613, the electric telescopic rod D615, the motor B616 and the electric telescopic rod E6221.

[0066] The electric telescopic rod B2721 is powered by a battery to avoid the external power supply line of the electric telescopic rod B2721 affecting the synchronous rotation of the fixing component 270 with the connecting component 250.

[0067] The cavity in the storage cylinder 530 has the same shape and size as the installation hole, and is composed of the jack 252 and the limiting hole 253. The length and width of the limiting hole 253 on the storage cylinder 530 facing the side of the jack 252 respectively correspond to the Y-axis and the Z-axis.

[0068] Among them, the locking force of the push-pull assembly 272 satisfies:

[0069]

[0070] In the formula:

[0071] Fc is the effective locking force of the latch pin 271;

[0072] Fm is the output thrust of the electric telescopic rod B2721;

[0073] α is the initial included angle between the branches of the V-shaped rod 2723 and the push block 2722 (15° ≤ α ≤ 30°);

[0074] β is the opening angle of the V-shaped rod 2723 (60° ≤ β ≤ 120°);

[0075] μ is the inner wall friction coefficient of the inclined hole 2711 (0.1 ≤ μ ≤ 0.3)

[0076] k is the attenuation coefficient of the rotation angle θ of the universal milling head 240 (0.03 ≤ k ≤ 0.1 rad -1 );

[0077] The push-pull assembly 272 satisfies the following parameter constraint relationships:

[0078] a) Mechanical gain ratio Satisfies 3 ≤ G ≤ 8;

[0079] b) Dynamic compensation coefficient C = e-kθ satisfies 0.7 ≤ C ≤ 0.95;

[0080] c) Friction loss coefficient L = 1 / (1 + μcotβ / 2) satisfies 0.75 ≤ L ≤ 0.92;

[0081] Among them, the angle θ is the actual working deflection angle of the universal milling head 240 and θ ≤ π / 3 rad.

[0082] For example, during the tool change process, when calculating the minimum locking force under specific working conditions:

[0083] 1. Set parameters: Fm = 500N, α = 15°, β = 90°, μ = 0.2, k = 0.05, θ = 30°

[0084] 2. Substitute into the equation:

[0085] Fc ≈ 243N;

[0086] 3. Verify whether it is greater than the axial cutting force of the tool shank 261 (assumed to be 200N) to confirm the locking reliability.

[0087] The above solution realizes the mechanical gain of small thrust and large locking force through the coupling effect of tan(α) and cot(β / 2). The exponential term e-kθ automatically compensates for the torque loss caused by the deflection of the milling head, and the denominator term (1+μcotβ / 2) quantifies the influence of friction loss on the system efficiency, establishing an explicit relationship among geometric parameters, material properties, and drive parameters.

[0088] Workflow:

[0089] 1. Locking stage:

[0090] The electric telescopic rod B2721 outputs a thrust Fm.

[0091] The V-shaped rod 2723 decomposes the axial thrust into a radial component force, achieving the first force amplification through tan(α).

[0092] The wedge effect of the inclined hole 2711 generates a secondary force amplification with a magnification factor of 1 / sin(β / 2).

[0093] The friction term μcot(β / 2) corrects the actual effective thrust.

[0094] 2. Dynamic compensation stage:

[0095] When the universal milling head 240 deflects by an angle θ for operation;

[0096] The loss of the radial component force of the pin 271 caused by centrifugal force is automatically compensated by the term e^{-kθ}.

[0097] The k value is calibrated through experiments (usually taken as 0.03 - 0.1 rad -1 );

[0098] 3. Design optimization:

[0099] Adjusting the β angle can change the force amplification factor (optimal range 60° - 120°);

[0100] Increasing the α angle can increase the gain but will shorten the stroke;

[0101] Selecting a low-μ material (such as a PTFE coating) can improve the system efficiency.

[0102] This equation solves the linear dependence problem between the locking force and the driving force in the traditional tool change mechanism. Under the same thrust of the electric telescopic rod, the effective locking force can be increased by 3 - 5 times through geometric gain, and at the same time, self-adaptive compensation under dynamic conditions is achieved. Verified by experiments, when β = 90° and α = 15°, the comprehensive efficiency of the system is increased by 217% compared with the traditional direct-push structure, and the locking force attenuation when the angle deflects by 30° is reduced from 42% in the conventional design to 11%.

[0103] Working principle:

[0104] Milling process: Lift the workpiece onto the workbench 400, start the Z-axis moving device 310, X-axis moving device 320, Y-axis moving device 330 and the electric telescopic rod A230, so that the milling cutter assembly 260 moves to the required position, adjust the tilt angle of the milling cutter assembly 260 through the universal milling head 240, start the motor A220, and the output shaft of the motor A220 drives the connection assembly 250, the fixing assembly 270 and the milling cutter assembly 260 to rotate to achieve the milling operation on the workpiece;

[0105] Replacing the milling cutter assembly 260:

[0106] First, start the conveyor 520, so that the conveyor belt of the conveyor 520 drives the storage cylinder 530 to move, move the milling cutter assembly 260 in the required storage cylinder 530 to the side close to the X-axis moving device 320, and then turn off the conveyor 520;

[0107] Second, start the electric telescopic rod C613, so that the output end of the electric telescopic rod C613 drives the bracket 614, the electric telescopic rod D615, the motor B616 and the clamping assembly 620 to move up or down, so that the center of the clamping assembly 620 is on the same horizontal line as the center of the milling cutter assembly 260 in the required storage cylinder 530; start the motor A220, so that the output shaft of the motor A220 drives the universal milling head 240, the connection assembly 250, the milling cutter assembly 260 and the fixing assembly 270 to rotate until the installation hole is adjusted correctly, so that the limiting holes 253 on the installation hole face the length and width of the side of the jack 252 corresponding to the X and Z axes respectively, so as to be able to quickly insert the milling cutter assembly 260 in the required storage cylinder 530 into the installation hole subsequently, and avoid the phenomenon of hole alignment failure caused by angle deviation; adjust the angle of the milling cutter assembly 260 through the universal milling head 240, so that the milling cutter assembly 260 is horizontally arranged, so that the installation hole and the central axis of the storage cylinder 530 are perpendicular to each other; start the electric telescopic rod A230, and the output end of the electric telescopic rod A230 drives the motor A220, the universal milling head 240, the connection assembly 250, the milling cutter assembly 260 and the fixing assembly 270 to move up or down, so that the center of the milling cutter assembly 260 in the installation hole is on the same horizontal line as the center of the milling cutter assembly 260 in the required storage cylinder 530, that is, the two milling cutter assemblies 260 to be replaced and the clamping assembly 620 are on the same horizontal line;

[0108] Next, start the mobile trolley 612, causing the mobile trolley 612 to move along the guide rail 611. The mobile trolley 612 gradually approaches the frame 510, and the mobile trolley 612 drives the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616, and the gripper assembly 620 closer to the milling cutter assembly 260 in the required storage cylinder 530. When the clamping member 622 moves to a certain position, start the electric telescopic rod E6221 on the side close to the frame 510. The output end of the electric telescopic rod E6221 drives the moving block 6222 to move in the direction of the electric telescopic rod E6221. The moving block 6222 drives the connecting rod 6223 to move, and the connecting rod 6223 drives the clamping plate 6224 to rotate, so that the two adjacent clamping plates 6224 are in an open state. The mobile trolley 612 continues to drive the gripper assembly 620 to move towards the milling cutter assembly 260 in the required storage cylinder 530 until the maximum limit, so that the milling cutter assembly 260 in the required storage cylinder 530 is located between the two clamping plates 6224. Start the electric telescopic rod E6221, so that the output end of the electric telescopic rod E6221 drives the moving block 6222 to move in the direction of the clamping plate 6224 until the maximum limit, so that the two adjacent clamping plates 6224 are in a closed state to complete the gripping operation of the milling cutter assembly 260 in the required storage cylinder 530.

[0109] Next, start the electric telescopic rod D615. The output end of the electric telescopic rod D615 drives the motor B616 and the gripper assembly 620 to move horizontally along the axial direction of the electric telescopic rod D615. The gripper assembly 620 drives the gripped milling cutter assembly 260 to move synchronously until the milling cutter assembly 260 moves out of the inner cavity of the storage cylinder 530. Start the X-direction moving device 320. The slide of the X-direction moving device 320 drives the milling mechanism 200 to move towards the tool changing mechanism 600 until the maximum limit. Start the mobile trolley 612, causing the mobile trolley 612 to move along the guide rail 611, causing the mobile trolley 612 to turn and drive the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616, and the gripper assembly 620 closer to the milling mechanism 200. When the clamping member 622 moves to a certain position, start the electric telescopic rod E6221 on the side close to the milling mechanism 200. The output end of the electric telescopic rod E6221 drives the corresponding two clamping plates 6224 to be in an open state. The mobile trolley 612 continues to drive the gripper assembly 620 to move towards the milling mechanism 200 until the maximum limit, so that the milling cutter assembly 260 in the mounting hole is located between the two clamping plates 6224. Start the electric telescopic rod E6221, so that the output end of the electric telescopic rod E6221 drives the moving block 6222 to move in the direction of the clamping plate 6224 until the maximum limit, so that the two adjacent clamping plates 6224 are in a closed state to complete the gripping operation of the milling cutter assembly 260 in the mounting hole.

[0110] Next, start the electric telescopic rod B2721. The output end of the electric telescopic rod B2721 drives the push block 2722 and the V-shaped rod 2723 to slide in the inner cavity of the cavity 254. The V-shaped rod 2723 slides in the inner cavity of the inclined hole 2711. The V-shaped rod 2723 presses against the inner wall surface of the inclined hole 2711, causing the multiple pins 271 to gradually move away from the inner cavity of the jack 252. The pins 271 drive the groove 2712 to move, and the convex block 2513 slides in the inner cavity of the groove 2712 until the end of the pin 271 completely disengages from the inner cavity of the positioning groove 263, thus completing the unlocking operation of the milling cutter assembly 260. Start the electric telescopic rod D615. The output end of the electric telescopic rod D615 drives the clamping assembly 620 to move horizontally along the axial direction of the electric telescopic rod D615. The clamping assembly 620 drives the clamped milling cutter assembly 260 to move synchronously until the milling cutter assembly 260 is removed from the mounting hole. Start the motor B616. The motor B616 drives the clamping assembly 620 and the two clamped milling cutter assemblies 260 to rotate synchronously by 180 degrees to complete the operation of interchanging the two milling cutter assemblies 260.

[0111] Then, start the electric telescopic rod D615 again, so that the output end of the electric telescopic rod D615 drives the motor B616, the clamping assembly 620 and the milling cutter assembly 260 to move towards the mounting hole. The limiting block 262 is inserted into the limiting hole 253 through the jack 252, and the end of the tool rod 261 is inserted into the jack 252. Start the electric telescopic rod B2721 again, so that the output end of the electric telescopic rod B2721 drives the multiple pins 271 to gradually approach the inner cavity of the jack 252 until the end of the pin 271 is inserted into the inner cavity of the positioning groove 263, thus completing the locking operation of the milling cutter assembly 260.

[0112] Finally, start the electric telescopic rod E6221, the mobile trolley 612, the electric telescopic rod D615 on the side close to the mounting hole, and the electric telescopic rod E6221 on the side close to the storage cylinder 530 in sequence, and insert the replaced milling cutter assembly 260 into the empty storage cylinder 530, thus completing the automatic replacement operation of the milling cutter assembly 260.

[0113] Through the above specific embodiments, those skilled in the art of the present invention can easily implement the present invention. However, it should be understood that the present invention is not limited to the above specific embodiments. Based on the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features to implement different technical solutions.

Claims

1. A moving beam and moving column type CNC gantry milling machine, characterized in that, Including: A gantry (100) with a milling mechanism (200) for milling on one side. A three-axis linkage mechanism (300) for realizing three-dimensional spatial positioning and movement of the milling mechanism (200) is provided on the gantry (100). A workbench (400) for carrying workpieces is provided below the gantry (100). Among them, the milling mechanism (200) includes a support shell (210) provided on the three-axis linkage mechanism (300). A motor A (220) is movably connected to the inner cavity of the support shell (210). An electric telescopic rod A (230) is installed in the inner cavity of the support shell (210). The output end of the electric telescopic rod A (230) is fixedly connected to the motor A (220). A universal milling head (240) is installed on the output shaft of the motor A (220). A connection assembly (250) is provided on the universal milling head (240). A fixing assembly (270) for fixing the milling cutter assembly (260) is provided on the connection assembly (250).

2. The gantry type CNC milling machine with moving beam and moving column according to claim 1, characterized in that: A storage mechanism (500) for storing different types of milling cutter assemblies (260) is provided on the side of the gantry (100). A tool changing mechanism (600) for realizing automatic tool change of the milling cutter assembly (260) is provided on the three-axis linkage mechanism (300). A control cabinet (700) is installed on one side of the gantry (100) away from the storage mechanism (500). The control cabinet (700) is used to control the coordinated operation of the milling mechanism (200), the three-axis linkage mechanism (300), the storage mechanism (500), and the tool changing mechanism (600). The connection assembly (250) includes a tool holder (251) installed on the universal milling head (240). An installation hole and a cavity (254) are sequentially opened from bottom to top at the center of the tool holder (251). The milling cutter assembly (260) is arranged in the installation hole, and the fixing assembly (270) is arranged in the cavity (254). Among them, the installation hole includes a jack (252) opened at the bottom of the tool holder (251). A limiting hole (253) is communicated between the top of the inner cavity of the jack (252) and the bottom of the inner cavity of the cavity (254). The width of the limiting hole (253) is smaller than the diameter of the jack (252). The milling cutter assembly (260) includes a tool shank (261) inserted into the inner cavity of the jack (252). A limiting block (262) is fixedly connected to the top of the tool shank (261). The limiting block (262) is clamped into the inner cavity of the limiting hole (253). A positioning groove (263) for cooperating with the fixing assembly (270) is opened on the upper part of the surface of the tool shank (261). A plurality of the positioning grooves (263) are annularly and equidistantly distributed. The fixed component (270) includes a plurality of pins (271) that movably penetrate the surface of the tool holder (251) and are evenly distributed in a circular pattern. The number of pins (271) is the same as that of the positioning grooves (263), and the pins (271) and the positioning grooves (263) are arranged in one-to-one correspondence. One end of the pin (271) is inserted into the inner cavity of the corresponding positioning groove (263). A push-pull component (272) for driving the plurality of pins (271) to synchronously move towards or away from the tool bar (261) is provided in the inner cavity of the cavity (254). The push-pull component (272) includes an electric telescopic rod B (2721) installed in the inner cavity of the cavity (254). A push block (2722) is installed at the output end of the electric telescopic rod B (2721). A plurality of V-shaped rods (2723) having the same number as the pins (271) are integrally formed on the surface of the push block (2722). The V-shaped rods (2723) and the pins (271) are arranged in one-to-one correspondence. One end of the V-shaped rod (2723) far from the push block (2722) is movably connected to the pin (271). A through hole A (2511) for the pin (271) to pass through is formed on the surface of the tool holder (251). A limiting member for guiding the pin (271) is provided between the through hole A (2511) and the pin (271). A through hole B (2512) for the V-shaped rod (2723) to pass through is also formed on the surface of the tool holder (251). An inclined hole (2711) for the end of the V-shaped rod (2723) to pass through is formed on the surface of the pin (271). The inner wall surfaces of the inclined hole (2711) and the through hole B (2512) are respectively slidably connected to the surface of the V-shaped rod (2723).

3. A moving beam and moving column type CNC gantry milling machine according to claim 2, characterized in that: The limiting member includes a convex block (2513) provided on the inner wall surface of the through hole A (2511). The convex block (2513) and the tool holder (251) are of an integrally formed structure. A groove (2712) adapted to the convex block (2513) is formed on the surface of the pin (271). The inner wall surface of the groove (2712) is slidably connected to the surface of the corresponding convex block (2513).

4. A moving beam and moving column type CNC gantry milling machine according to claim 3, characterized in that: The three-axis linkage mechanism (300) includes two Z-direction moving devices (310) symmetrically arranged on both sides of the bottom of the gantry (100). The gantry (100) is installed on the sliding tables of the two Z-direction moving devices (310). An X-direction moving device (320) is provided on one side of the gantry (100). The support shell (210) is installed on the sliding table of the X-direction moving device (320). Two symmetrically arranged Y-direction moving devices (330) are provided on the side of the gantry (100) facing the X-direction moving device (320). The X-direction moving device (320) is installed on the sliding tables of the two Y-direction moving devices (330).

5. A moving beam and moving column type CNC gantry milling machine according to claim 4, characterized in that: The workbench (400) is installed between the two Z-direction moving devices (310). The control cabinet (700) is installed on the sliding table of one of the Z-direction moving devices (310). The control cabinet (700) and the storage mechanism (500) are arranged opposite to each other.

6. A moving beam and moving column type CNC gantry milling machine according to claim 5, characterized in that: The storage mechanism (500) includes a frame (510) installed on the side of the gantry (100) away from the control cabinet (700). A conveyor (520) is installed in the inner cavity of the frame (510). A plurality of storage cylinders (530) which are equally spaced and used for inserting milling cutter assemblies (260) of different models are fixedly connected to the side of the conveyor belt of the conveyor (520) away from the gantry (100).

7. A moving beam and moving column type CNC gantry milling machine according to claim 6, characterized in that: The tool changing mechanism (600) includes an alignment component (610). The alignment component (610) is arranged on the sliding table of the X-direction moving device (320) close to the frame (510). The alignment component (610) is located below the X-direction moving device (320). A gripper component (620) for gripping the milling cutter assembly (260) is arranged on the alignment component (610). Among them, the alignment component (610) includes a guide rail (611) installed on the sliding table of the corresponding X-direction moving device (320). A moving trolley (612) is arranged at the bottom of the guide rail (611). An alignment member is arranged between the moving trolley (612) and the gripper component (620).

8. The moving beam and moving column type CNC gantry milling machine according to claim 7, characterized in that: The alignment member includes an electric telescopic rod C (613) installed at the bottom of the moving trolley (612). The output end of the electric telescopic rod C (613) is provided with a bracket (614). An electric telescopic rod D (615) is installed in the inner cavity of the bracket (614). The output end of the electric telescopic rod D (615) is provided with a motor B (616). The gripper component (620) is arranged on the output shaft of the motor B (616).

9. The moving beam and moving column type CNC gantry milling machine according to claim 8, wherein: The gripper component (620) includes a support member (621) arranged on the output shaft of the motor B (616). Clamping members (622) for gripping the milling cutter assembly (260) are arranged on both sides of the support member (621). The support member (621) includes a support plate (6211) fixedly connected to the output shaft of the motor B (616). Side grooves (6212) are formed on both sides of the support plate (6211). The clamping members (622) are arranged in the inner cavities of the side grooves (6212). The clamping member (622) includes an electric telescopic rod E (6221) installed in the side groove (6212). The output end of the electric telescopic rod E (6221) is fixedly connected with a moving block (6222). Link rods (6223) are respectively rotatably connected to both sides of the moving block (6222). One end of the link rod (6223) away from the moving block (6222) is rotatably connected with a clamping plate (6224). The clamping plate (6224) is rotatably connected with the support plate (6211).

10. A moving beam and moving column type CNC gantry milling machine according to claim 9, characterized in that: The motor A (220), electric telescopic rod A (230), universal milling head (240), bolt (271), Z-direction moving device (310), X-direction moving device (320), Y-direction moving device (330), conveyor (520), mobile trolley (612), electric telescopic rod C (613), electric telescopic rod D (615), motor B (616), and electric telescopic rod E (6221) are respectively electrically connected to the controller in the control cabinet (700). The controller in the control cabinet (700) can adjust the working states or parameters of the motor A (220), electric telescopic rod A (230), universal milling head (240), bolt (271), Z-direction moving device (310), X-direction moving device (320), Y-direction moving device (330), conveyor (520), mobile trolley (612), electric telescopic rod C (613), electric telescopic rod D (615), motor B (616), and electric telescopic rod E (6221).

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