A six-axis linkage auxiliary processing platform and control method thereof

Abstract

The present invention discloses a six-axis linkage auxiliary processing platform, including a six-degree-of-freedom mechanism, a rotary table and an electric control cabinet. The six-degree-of-freedom mechanism can translate along the X-axis, Y-axis and Z-axis and rotate around the X-axis, Y-axis and Z-axis, and the rotary table is used to generate a 360° rotation around the Z-axis. The electric control cabinet includes a motion controller, 6 electric cylinder drivers and a rotary driver. The motion controller is provided with 6 signal lines one and signal line two, which are respectively connected to the 6 electric cylinder drivers and the rotary driver. The electric control cabinet is used to control and drive the six-degree-of-freedom mechanism and the rotary table. Compared with the three-axis processing platform in the prior art, the present invention has a six-axis linkage, which can feed the workpiece in an all-round manner with multiple degrees of freedom, has a fast processing feed speed, and multiple components are exposed in three dimensions for easy observation and maintenance.

Description

Technical Field

[0001] The invention relates to mechanical processing equipment, in particular to a six-axis linkage auxiliary processing platform. Background Art

[0002] Mechanical processing equipment is the mother machine of equipment manufacturing. Its precision, applicability and convenience are the key factors affecting the performance of the final product, and are also an important guarantee for contemporary intelligent manufacturing. The processing platforms of CNC equipment in the prior art are mostly three-axis, and there are almost no processing platforms with more than five axes. For those processing platforms with less high precision requirements but complex shapes requiring multiple degrees of freedom (more than five axes), the prior art cannot or is not convenient to meet the requirements, especially when the vertical displacement is relatively large and the speed is high, the processing platform of the prior art is already difficult to meet. In addition, the structure of the processing platform of the prior art is relatively complex, and the transmission components, deceleration components and drive equipment are mostly hidden inside the platform support. Once a failure occurs, it needs to be completely disassembled for maintenance, which is extremely inconvenient and seriously affects the processing accuracy. Summary of the invention

[0003] In order to solve the above problems, the present invention provides a six-axis linkage auxiliary processing platform, which can well solve the problems of low degree of freedom, complex structure and difficult maintenance of the processing platform in the prior art.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A six-axis linkage auxiliary processing platform, comprising a six-degree-of-freedom mechanism, a rotary table and an electric control cabinet; the six-degree-of-freedom mechanism can translate along the X-axis, Y-axis and Z-axis and rotate around the X-axis, Y-axis and Z-axis; the rotary table is used to generate a 360° rotation around the Z axis; the electric control cabinet is used to control and drive the six-degree-of-freedom mechanism and the rotary table;

[0006] The six-degree-of-freedom mechanism includes a lower machine base, 6 groups of lower spherical hinges, 6 electric cylinders, 6 groups of upper spherical hinges and an upper base plate. The lower end of the electric cylinder is connected to the lower machine base through the lower spherical hinge, and the upper end of the electric cylinder is connected to the upper base plate through the upper spherical hinge; the electric cylinder includes an electric cylinder servo motor, an electric cylinder body, and an electric push rod. The electric cylinder servo motor is arranged at the lower part of the electric cylinder body. The electric cylinder body and the electric push rod are connected by a ball screw arranged inside the electric cylinder body. The electric push rod is extended and retracted in the axial direction under the drive of the electric cylinder servo motor;

[0007] The rotary worktable includes a platform base, a rotary bearing, a rotary table, a rotary servo motor and a driving gear assembly; the platform base is connected to the upper base plate by screw one and is positioned on the upper surface of the upper base plate by a stopper; the rotary bearing includes a stationary ring, a rolling body and a moving ring inner gear, the stationary ring is connected to the platform base by a stopper, and the stationary ring and the moving ring inner gear are connected by several rolling bodies; the driving gear assembly includes a driving gear, a key, screw three and a pressure cover, the driving gear and the rotary servo motor transmit torque through the key, and the driving gear is pressed against the shaft end of the rotary servo motor by screw three and the pressure cover; The turntable is arranged above the platform base and the slewing bearing, and a certain axial running clearance is left between the outer edge lower end surface of the disc-shaped turntable and the upper end surface of the platform base. The turntable and the moving circle internal gear are positioned by a stopper, and the two are axially connected by screw 2; the external teeth of the driving gear are meshed with the internal teeth of the moving circle internal gear, and the torque from the rotary servo motor is amplified and transmitted to the moving circle internal gear, and the torque ratio is equal to the ratio of the external tooth pitch circle diameter of the driving gear to the internal tooth pitch circle diameter of the moving circle internal gear; the turntable, rolling body and moving circle internal gear constitute the rotor component of the turntable;

[0008] The electric control cabinet includes a motion controller, 6 electric cylinder drivers and a rotary driver. The motion controller is provided with 6 signal lines 1 and signal line 2, which are respectively connected to the 6 electric cylinder drivers and the rotary driver; each electric cylinder driver is provided with a signal line 3 and a power cable 1, which are correspondingly connected to each electric cylinder servo motor; the rotary driver is provided with a signal line 4 and a power cable 2, which are connected to the rotary servo motor.

[0009] As a further improvement of the present invention, when the extension amounts of the electric push rods of the six electric cylinders are equal, the two axes of the two adjacent electric cylinders, the lines connecting the centers of the corresponding two sets of lower spherical hinges and the lines connecting the centers of the corresponding two sets of upper spherical hinges all form an isosceles trapezoid.

[0010] As a further improvement of the present invention, when the extension amounts of the electric push rods of the six electric cylinders are equal, the upper base plate is in a horizontal position, A, B, C, D, E and F are respectively the centers of the six upper spherical hinges, and AB=CD=EF, BC=DE=FA, BC=3AB, the center O of the inscribed circle of the three sides BC, DE and FA is the center of the coordinate system, the axis of symmetry of EF passing through point O is the Y axis, the straight line passing through point O and perpendicular to the Y axis is the X axis, the straight line passing through point O and perpendicular to the upper base plate is the Z axis, and the direction is upward.

[0011] As a further improvement of the present invention, the motion controller includes a communication port that can communicate with a host CNC system.

[0012] As a further improvement of the present invention, an encoder 1 is provided inside the electric cylinder servo motor, and its position signal is transmitted to the electric cylinder driver via the signal line 3; an encoder 2 is provided inside the rotary servo motor, and its position signal is transmitted to the rotary driver via the signal line 4.

[0013] As a further improvement of the present invention, the axial motion error of the ball screw transmission between the electric cylinder body and the electric push rod is less than 0.005 mm.

[0014] As a further improvement of the present invention, in the initial state, that is, when the translational displacements of the X-axis, Y-axis and Z-axis and the angular displacements around the X-axis, Y-axis and Z-axis are all zero, the rotation axis of the rotary table coincides with the Z-axis.

[0015] As a further improvement of the present invention, the upper surface of the turntable is provided with a cylindrical countersunk hole coaxial with its rotation axis, and the cylindrical surface of the countersunk hole is evenly provided with a plurality of T-shaped grooves.

[0016] The present invention also provides a control method for a six-axis linkage auxiliary processing platform, comprising the following steps:

[0017] (1) Determine the control attitude parameters

[0018] The posture parameters for CNC machining are transmitted from the upper CNC system to the motion controller through the communication port;

[0019] (2) Motion decomposition

[0020] The motion controller decomposes the posture parameters for CNC machining transmitted from the upper CNC system to form the translation displacements of the X-axis, Y-axis and Z-axis and the angular displacements around the X-axis, Y-axis and Z-axis and the angular displacement of the rotary table;

[0021] (3) Secondary decomposition

[0022] The translation displacement and angular displacement after the first decomposition are decomposed again to form the extension or retraction of the electric push rods of the six electric cylinders and the angular displacement of the rotary servo motor;

[0023] (4) Motion synthesis

[0024] The motion controller controls the electric cylinder driver and the rotary driver to output driving quantities such as current and voltage of a certain frequency, drives the six electric cylinder servo motors to rotate, extends or retracts the six electric push rods by the required amount, and drives the rotary servo motor to rotate by the required angle at the same time;

[0025] (5) Motion feedback and compensation

[0026] Encoder 1 inside the electric cylinder servo motor and encoder 2 inside the rotary servo motor transmit their position signals to the electric cylinder driver and the rotary driver. The electric cylinder driver and the rotary driver compare the position signals with the original motion parameters. If there is an error, compensation parameters are sent to the electric cylinder servo motor and the rotary servo motor until the position parameters meet the requirements.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. Six-axis linkage, strong adaptability: Compared with the three-axis processing platform in the prior art, the present invention has six-axis linkage, which can feed the workpiece in multiple degrees of freedom and in all directions.

[0029] 2. Fast processing feed speed: 6 electric cylinders and 1 rotary servo motor are used, each with its own responsibilities, and the feed response speed is fast.

[0030] 3. Easy maintenance: The 6 electric cylinders and the upper and lower ball hinges are all exposed. If there is a fault, the problem can be found quickly and maintenance is extremely convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 It is an axonometric view of the six-degree-of-freedom mechanism and the rotary table of the present invention.

[0033] Figure 2 It is a schematic diagram of the electric control cabinet of the present invention.

[0034] Figure 3 It is a cross-sectional schematic diagram of the rotary table of the present invention.

[0035] Figure 4 for Figure 3 A partial enlarged view of part I.

[0036] Figure 5 It is a schematic diagram of the coordinate system of the present invention.

[0037] In the figure: 1, six-degree-of-freedom mechanism, 2, rotary table, 3, electric control cabinet, 11, lower base, 12, lower ball hinge, 13, electric cylinder, 14, upper ball hinge, 15, upper base plate, 21, platform base, 22, slewing bearing, 23, rotary table, 24, rotary servo motor, 25, driving gear assembly, 26, screw one, 27, screw two, 31, motion controller, 32, electric cylinder driver, 33, rotary driver, 131, electric cylinder servo Servo motor, 132, electric cylinder body, 133, electric push rod, 221, stationary ring, 222, rolling element, 223, inner gear of moving ring, 231, T-slot, 232, countersunk hole, 251, driving gear, 252, key, 253, screw three, 254, gland, 311, communication port, 312, signal line one, 313, signal line two, 321, signal line three, 322, power cable one, 331, signal line four, 332, power cable two. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inside", "outside", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; the mechanical connection can be welding, riveting, threaded connection or flange connection, etc.; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] like Figures 1 to 5As shown, the present invention provides a six-axis linkage auxiliary processing platform, which is mainly used in occasions where the processing accuracy is not high, but the number of processing axes (number of degrees of freedom) is high. The six-axis linkage auxiliary processing platform includes a six-degree-of-freedom mechanism 1, a rotary table 2 and an electric control cabinet 3. The six-degree-of-freedom mechanism 1 can translate along the X-axis, Y-axis and Z-axis and rotate around the X-axis, Y-axis and Z-axis. The linear displacement and angular displacement depend on the maximum extension of the electric push rod 133 of the electric cylinder 13 in the six-degree-of-freedom mechanism 1. The greater the extension, the greater the linear displacement and angular displacement. The rotary table 2 is used to generate a 360° rotation around the Z axis. The electric control cabinet 3 is used to control and drive the six-degree-of-freedom mechanism 1 and the rotary table 2, including the provision of power supply, the issuance of control signals, the reception of feedback signals and the communication with the upper CNC system.

[0042] The six-degree-of-freedom mechanism 1 includes a lower machine base 11, six groups of lower spherical hinges 12, six electric cylinders 13, six groups of upper spherical hinges 14 and an upper base plate 15. The lower end of the electric cylinder 13 is connected to the lower machine base 11 through the lower spherical hinge 12, and the upper end of the electric cylinder 13 is connected to the upper base plate 15 through the upper spherical hinge 14. The electric cylinder 13 includes an electric cylinder servo motor 131, an electric cylinder body 132, and an electric push rod 133. The electric cylinder servo motor 131 is arranged at the lower part of the electric cylinder body 132. The electric cylinder body 132 and the electric push rod 133 are connected by a ball screw arranged inside the electric cylinder body 132. The electric cylinder servo motor 131 provides power for the electric cylinder 13. The electric push rod 133 extends and retracts along the axial direction under the drive of the electric cylinder servo motor 131. The upper spherical hinge 14 and the lower spherical hinge 12 connect the entire mechanism, which can rotate freely around the hinge ball center in any direction within its rotation range with high precision and no jamming.

[0043] The rotary table 2 includes a platform base 21, a rotary bearing 22, a rotary table 23, a rotary servo motor 24 and a driving gear assembly 25. The platform base 21 is connected to the upper base plate 15 through a screw 26 and is positioned on the upper surface of the upper base plate 15 through a stopper. The rotary bearing 22 includes a stationary ring 221, a rolling body 222 and a moving ring inner gear 223. The stationary ring 221 is connected to the platform base 21 through a stopper, and the stationary ring 221 and the moving ring inner gear 223 are connected through several rolling bodies 222. The rotary bearing 22 is actually a special bearing, which is usually used in large-size and heavy-loaded occasions and can withstand large radial and axial loads. The driving gear assembly 25 includes a driving gear 251, a key 252, a screw 3 253 and a pressure cover 254. The driving gear 251 and the rotary servo motor 24 transmit torque through the key 252, and the driving gear 251 is pressed against the shaft end of the rotary servo motor 24 by the screw 3 253 and the pressure cover 254. The turntable 23 is arranged above the platform base 21 and the slewing bearing 22. A certain axial running clearance is left between the outer edge lower end surface of the disc-shaped turntable 23 and the upper end surface of the platform base 21. The turntable 23 and the moving circle inner gear 223 are positioned by the stopper, and the two are axially connected by screws 27. The outer teeth of the driving gear 251 mesh with the inner teeth of the moving circle inner gear 223, and the torque from the rotary servo motor 24 is amplified and transmitted to the moving circle inner gear 223. The torque ratio is equal to the ratio of the outer tooth pitch circle diameter of the driving gear 251 to the inner tooth pitch circle diameter of the moving circle inner gear 223. The turntable 23, the rolling body 222 and the moving circle inner gear 223 constitute the rotor component of the turntable. Under the drive of the rotary servo motor 24, the driving gear 251 and the moving circle inner gear 223 mesh with each other, so that the rotor component generates a rotary motion.

[0044] The electric control cabinet 3 includes a motion controller 31, six electric cylinder drivers 32 and a rotary driver 33. The motion controller 31 is provided with six signal lines 1 312 and signal lines 2 313, which are respectively connected to the six electric cylinder drivers 32 and the rotary driver 33, and mainly transmit the position information of the encoders of the electric cylinder servo motor 131 and the rotary servo motor 24 received by the electric cylinder driver 32 and the rotary driver 33, and transmit the control instructions of the motion controller 31 to the electric cylinder driver 32 and the rotary driver 33. Each electric cylinder driver 32 is provided with a signal line 3 321 and a power cable 1 322, which are correspondingly connected to each electric cylinder servo motor 131. The rotary driver 33 is provided with a signal line 4 331 and a power cable 2 332, which are connected to the rotary servo motor 24.

[0045] When the extension amounts of the electric push rods 133 of the six electric cylinders 13 are equal, the two axes of the two adjacent electric cylinders 13, the connecting lines of the sphere centers of the corresponding two sets of lower spherical hinges 12 and the connecting lines of the sphere centers of the corresponding two sets of upper spherical hinges 14 all form an isosceles trapezoid.

[0046] When the extension amounts of the electric push rods 133 of the six electric cylinders 13 are equal, the upper base plate 15 is in a horizontal position, A, B, C, D, E and F are the sphere centers of the six groups of upper spherical hinges 14, and AB=CD=EF, BC=DE=FA, BC=3AB, the center O of the inscribed circle of the three sides BC, DE and FA is the center of the coordinate system, the symmetry axis of EF passing through point O is the Y axis, the straight line passing through point O and perpendicular to the Y axis is the X axis, and the straight line passing through point O and perpendicular to the upper base plate is the Z axis, and the direction is upward. The arrangement of the sphere centers of the six groups of lower spherical hinges 12 is the same as the arrangement of the sphere centers of the upper spherical hinges 14, and the hexagon formed by connecting the sphere centers is a similar figure to the hexagon ABCDEF.

[0047] The motion controller 31 includes a communication port 311 that can communicate with the upper CNC system. The communication port 311 is connected to a communication cable. Under the specifications of the communication protocol, control data can be transmitted with the upper CNC system so that the CNC system can issue instructions to control appropriate tools for cutting.

[0048] The electric cylinder servo motor 131 is provided with an encoder 1 inside, and its position signal is transmitted to the electric cylinder driver 32 via a signal line 321. The rotary servo motor 24 is provided with an encoder 2 inside, and its position signal is transmitted to the rotary driver 33 via a signal line 4 331 for closed-loop control.

[0049] The axial motion error of the ball screw transmission of the electric cylinder body 132 and the electric push rod 133 is less than 0.005 mm, which makes the entire six-axis linkage auxiliary processing platform have higher precision.

[0050] In the initial state, that is, when the translational displacements of the X-axis, Y-axis and Z-axis and the angular displacements around the X-axis, Y-axis and Z-axis are all zero, the rotary axis of the rotary table 2 coincides with the Z-axis, thus establishing the basic coordinate system of the six-axis linkage auxiliary processing platform, providing a benchmark for CNC programming.

[0051] The upper surface of the turntable 23 is provided with a cylindrical counterbore 232 coaxial with the rotation axis thereof, and the cylindrical surface of the counterbore 232 is evenly provided with a plurality of T-shaped slots 231 for the convenience of installing and fixing parts.

[0052] The control method of the six-axis linkage auxiliary processing platform includes the following steps:

[0053] (1) Determine the control attitude parameters

[0054] The posture parameters used for CNC machining are transmitted from the upper CNC system to the motion controller 31 through the communication port.

[0055] (2) Motion decomposition

[0056] The motion controller 31 decomposes the posture parameters for CNC machining transmitted from the upper CNC system to form the translation displacements of the X-axis, Y-axis and Z-axis and the angular displacements around the X-axis, Y-axis and Z-axis and the angular rotation of the rotary table 2.

[0057] (3) Secondary decomposition

[0058] The translation displacement and angular displacement that have been decomposed once are decomposed again to form the extension or retraction amount of the electric push rods 133 of the six electric cylinders 13 and the rotation angle amount of the rotary servo motor 24.

[0059] (4) Motion synthesis

[0060] The motion controller 31 controls the electric cylinder driver 32 and the rotary driver 33 to output driving quantities such as current and voltage of a certain frequency, driving the six electric cylinder servo motors 131 to rotate, so that the six electric push rods 133 extend or retract the required amount, and at the same time drives the rotary servo motor 24 to rotate the required angle.

[0061] (5) Motion feedback and compensation

[0062] Encoder 1 inside the electric cylinder servo motor 131 and encoder 2 inside the rotary servo motor 24 transmit their position signals to the electric cylinder driver 32 and the rotary driver 33. The electric cylinder driver 32 and the rotary driver 33 compare the position signals with the original motion parameters. If there is an error, compensation parameters are sent to the electric cylinder servo motor 131 and the rotary servo motor 24 until the position parameters meet the requirements.

[0063] Compared with the prior art, the six-axis linkage auxiliary processing platform described in the present invention has significant advantages:

[0064] (1) Six-axis linkage, strong adaptability: Compared with the three-axis machining platform in the prior art, the present invention has six-axis linkage, which can feed the workpiece in all directions with multiple degrees of freedom.

[0065] (2) Fast processing feed speed: 6 electric cylinders and 1 rotary servo motor are used, each with its own responsibilities, and the feed response speed is fast, shortening the processing cycle.

[0066] (3) Easy maintenance: The six electric cylinders and the upper and lower ball hinges are all exposed. If there is a fault, the problem can be quickly discovered and maintenance is extremely convenient.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A six-axis linkage auxiliary processing platform, characterized in that: It includes a six-degree-of-freedom mechanism, a rotary table and an electric control cabinet; the six-degree-of-freedom mechanism can translate along the X-axis, Y-axis and Z-axis and rotate around the X-axis, Y-axis and Z-axis; the rotary table is used to generate a 360° rotation around the Z axis; the electric control cabinet is used to control and drive the six-degree-of-freedom mechanism and the rotary table; The six-degree-of-freedom mechanism includes a lower machine base, 6 groups of lower spherical hinges, 6 electric cylinders, 6 groups of upper spherical hinges and an upper base plate. The lower end of the electric cylinder is connected to the lower machine base through the lower spherical hinge, and the upper end of the electric cylinder is connected to the upper base plate through the upper spherical hinge; the electric cylinder includes an electric cylinder servo motor, an electric cylinder body, and an electric push rod. The electric cylinder servo motor is arranged at the lower part of the electric cylinder body. The electric cylinder body and the electric push rod are connected by a ball screw arranged inside the electric cylinder body. The electric push rod is extended and retracted in the axial direction under the drive of the electric cylinder servo motor; The rotary worktable includes a platform base, a rotary bearing, a rotary table, a rotary servo motor and a driving gear assembly; the platform base is connected to the upper base plate by screw one and is positioned on the upper surface of the upper base plate by a stopper; the rotary bearing includes a stationary ring, a rolling body and a moving ring inner gear, the stationary ring is connected to the platform base by a stopper, and the stationary ring and the moving ring inner gear are connected by several rolling bodies; the driving gear assembly includes a driving gear, a key, screw three and a pressure cover, the driving gear and the rotary servo motor transmit torque through the key, and the driving gear is pressed against the shaft end of the rotary servo motor by screw three and the pressure cover; The turntable is arranged above the platform base and the slewing bearing, and a certain axial running clearance is left between the outer edge lower end surface of the disc-shaped turntable and the upper end surface of the platform base. The turntable and the moving circle internal gear are positioned by a stopper, and the two are axially connected by screw 2; the external teeth of the driving gear are meshed with the internal teeth of the moving circle internal gear, and the torque from the rotary servo motor is amplified and transmitted to the moving circle internal gear, and the torque ratio is equal to the ratio of the external tooth pitch circle diameter of the driving gear to the internal tooth pitch circle diameter of the moving circle internal gear; the turntable, rolling body and moving circle internal gear constitute the rotor component of the turntable; The electric control cabinet includes a motion controller, 6 electric cylinder drivers and a rotary driver. The motion controller is provided with 6 signal lines 1 and signal line 2, which are respectively connected to the 6 electric cylinder drivers and the rotary driver; each electric cylinder driver is provided with a signal line 3 and a power cable 1, which are correspondingly connected to each electric cylinder servo motor; the rotary driver is provided with a signal line 4 and a power cable 2, which are connected to the rotary servo motor.

2. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: When the extension amounts of the electric push rods of the six electric cylinders are equal, the two axes of the two adjacent electric cylinders, the connecting lines of the sphere centers of the corresponding two sets of lower spherical hinges and the connecting lines of the sphere centers of the corresponding two sets of upper spherical hinges all form an isosceles trapezoid.

3. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: When the extension amounts of the electric push rods of the six electric cylinders are equal, the upper base plate is in a horizontal position, A, B, C, D, E and F are the centers of the six upper spherical hinges respectively, and AB=CD=EF, BC=DE=FA, BC=3AB, the center O of the inscribed circle of the three sides BC, DE and FA is taken as the center of the coordinate system, the symmetry axis of EF passing through point O is taken as the Y axis, the straight line passing through point O and perpendicular to the Y axis is taken as the X axis, the straight line passing through point O and perpendicular to the upper base plate is taken as the Z axis, and the direction is upward.

4. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: The motion controller includes a communication port that can communicate with the upper CNC system.

5. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: The electric cylinder servo motor is provided with an encoder 1 inside, and its position signal is transmitted to the electric cylinder driver via the signal line 3; the rotary servo motor is provided with an encoder 2 inside, and its position signal is transmitted to the rotary driver via the signal line 4.

6. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: The axial motion error of the ball screw transmission between the electric cylinder body and the electric push rod is less than 0.005 mm.

7. The six-axis linkage auxiliary processing platform according to claim 1 or 3, characterized in that: In the initial state, that is, when the translation displacements of the X-axis, Y-axis and Z-axis and the angular displacements around the X-axis, Y-axis and Z-axis are all zero, the rotation axis of the rotary table coincides with the Z-axis.

8. The six-axis linkage auxiliary processing platform according to claim 1 is characterized in that: The upper surface of the turntable is provided with a cylindrical countersunk hole coaxial with the rotation axis thereof, and a plurality of T-shaped grooves are evenly arranged on the cylindrical surface of the countersunk hole.

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