Integrated roughing and finishing machine tool and machining method for integral bladed disks based on collaborative control

Abstract

This invention relates to a machine tool for integrated roughing and finishing of an integral impeller based on collaborative control. The machine tool includes a rotary table C mounted on its Y-axis guide rail. A support base is mounted on the rotary table C, and a rotary table A is mounted on the support base. The integral impeller is mounted on the rotary table A via an impeller fixture. An industrial robotic arm is mounted on the other side of the machine tool, facing the integral impeller. A method for machining the integral impeller is also provided. This invention achieves integrated roughing and finishing of the integral impeller through the collaborative work of two mechanisms. The provided device transfers the roughing function of a dedicated machine tool for machining integral impellers to a relatively inexpensive industrial robotic arm without changing the installation position of the integral impeller. This effectively reduces wear on the machine tool spindle and lead screw guide rails during roughing, saving costs, extending the machine tool's service life, and ensuring the machining quality and efficiency of the integral impeller.

Description

Technical Field

[0001] This invention relates to a machining equipment and method for integral bladed disks, and more particularly to an apparatus for rough and finish machining integral bladed disks and a machining method thereof. Background Technology

[0002] Currently, integral bladed disks are mainly machined using specialized machine tools. These machines primarily employ integrated roughing and finishing processes. Because roughing involves high cutting forces, it easily leads to excessive wear on the machine tool spindle, guideways, and lead screws, resulting in premature reductions in machining accuracy and service life. To improve machine tool lifespan and ensure machining accuracy and efficiency for integral bladed disks, it is urgent to improve existing machine tool structures or machining processes. Furthermore, specialized machine tools for bladed disk machining are expensive; therefore, extending their service life is of great significance for reducing operating costs and improving economic efficiency for businesses. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a machine tool and processing method for roughing and finishing integral bladed disks that can both ensure the processing quality and efficiency of integral bladed disks and improve the service life of dedicated machine tools for integral bladed disk processing.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a machine tool for roughing and finishing an integral impeller based on collaborative control, comprising a machine tool, a rotary table C provided on the Y-axis guide rail of the machine tool, a support base mounted on the rotary table C, a rotary table A provided on the support base, and an integral impeller mounted on the rotary table A via an impeller clamp; a machine tool spindle is mounted on the machine tool corresponding to the integral impeller, the axis of the machine tool spindle being parallel to the axis of the Y-axis guide rail of the machine tool, the machine tool spindle being mounted on a support frame on one side of the machine tool via X and Z axial displacement devices, and an industrial robotic arm mounted on the other side of the machine tool facing the integral impeller;

[0005] The end arm of the industrial robot arm is equipped with an electric spindle, which is equipped with machining tools for rough grooving of the integral impeller blank. The machine tool spindle is equipped with machine tool machining tools for finish machining of the integral impeller.

[0006] The machine tool and industrial robot arm are electrically connected to the CNC system. The CNC system is used to input control CNC programs and control the rotational motion of the rotary table C and rotary table A, the Y-axis motion of the rotary table C, the X and Z axial motions of the machine tool spindle, and the machining motion of the industrial robot arm driving the electric spindle, so as to realize the five-axis linkage machining of the integral impeller and the collaborative machining of the industrial robot arm.

[0007] Furthermore, the rotary table C slides on the machine tool's Y-axis guide rail via a first groove at its bottom. A first ball screw is provided between the rotary table C and the support frame to drive the rotary table C to move along the Y-axis of the machine tool on the Y-axis guide rail. A servo motor driving the first ball screw is installed inside the bed of the machine tool. A servo motor driving the rotary table C to rotate is installed inside the rotary table C. The rotation axis of the rotary table C is perpendicular to the axis of the machine tool's Y-axis guide rail.

[0008] All the servo motors are electrically connected to the CNC system. The CNC system controls the start and stop of the servo motors, thereby causing the rotary table C to drive the integral impeller to rotate and the rotary table C to move along the Y-axis of the machine tool.

[0009] Furthermore, the rotation axis of the rotary table C is set perpendicular to the axis of the Y-axis guide rail of the machine tool.

[0010] Furthermore, the integral bladed disk is coaxially mounted on the rotary worktable A via a bladed disk clamp; at least three quick-change tooling positioning holes are evenly distributed around the rotating working surface of the rotary worktable A, which are used to fix and position the bladed disk clamp of the integral bladed disk.

[0011] Furthermore, the machine tool X and Z axis displacement device includes:

[0012] A spindle guide rail base is used to drive the machine tool spindle to move along the X-axis of the machine tool for machining. The frame is provided with a machine tool X-axis guide rail, and the spindle guide rail base is provided with a second slide groove corresponding to the machine tool X-axis guide rail. The spindle guide rail base is slidably mounted on the frame through the cooperation of the machine tool X-axis guide rail and the second slide groove. A ball screw and a servo motor for driving the spindle guide rail base to slide along the machine tool X-axis guide rail are installed in the bed of the machine tool, realizing the machining movement of the machine tool spindle in the X-axis of the machine tool.

[0013] It also includes a spindle base for driving the machine tool spindle to move along the Z-axis of the machine tool for machining. A pair of machine tool Z-axis guide rails are provided on the spindle base, and a pair of third slide grooves are provided on the spindle base corresponding to the machine tool Z-axis guide rails. The spindle base is slidably mounted on the frame through the cooperation of the machine tool Z-axis guide rails and the third slide grooves. A second ball screw for driving the spindle base to slide in the machine tool Z-axis slide grooves is provided in the frame channel between the machine tool Z-axis guide rails. The two ends of the second ball screw and the servo motor are provided in the spindle base, realizing the machining movement of the machine tool spindle in the Z-axis of the machine tool.

[0014] The servo motors are all connected to the machine tool CNC system. The machine tool CNC system is used to input CNC programs and control the servo motors respectively, thereby realizing the machining movements of the machine tool spindle in the X and Z axes.

[0015] Furthermore, the industrial robotic arm is a six-degree-of-freedom robotic arm, including a base mounted on the working surface and at least one movable joint arm that can rotate around the base, with the electric spindle mounted at the end of the movable arm.

[0016] Furthermore, the movable arm includes two arms, the base is connected to one end of the second movable joint arm via the first movable joint arm, the two movable joint arms are connected by a universal joint, and the electric spindle is installed at the other end of the second movable joint arm.

[0017] Furthermore, the machine tool Y-axis guide rail is set on the inclined mounting surface of the machine tool. The angle of inclination between the motion axis of the machine tool Y-axis guide rail and the horizontal line is α, where α is 30 degrees to 45 degrees. This allows the machine tool machining tools on the machine tool spindle and the cutting tools at the end of the industrial robot arm to extend into the processing channel of the impeller, thereby realizing the processing of the complex curved surface of the impeller and reducing the milling difficulty of the complex curved surface.

[0018] This invention also provides a machining method for an integral bladed disk roughing and finishing machine tool based on collaborative control, comprising:

[0019] During rough machining, the blank of the integral bladed disk and the bladed disk fixture are clamped on the rotary table A through the quick-change tooling positioning holes. The machine tool CNC system controls the start of the machining machine and industrial robot arm according to the input machining program.

[0020] First, the integral impeller is rough-machined using a cutting tool at the end of the industrial robotic arm, either by disc milling, plunge milling, or rapid milling. The machining position of the integral impeller is adjusted by the rotation of the rotary table C and rotary table A on the machine tool, as well as the movement of the rotary table C in the Y-axis direction of the machine tool, so that the machining position of the integral impeller faces the industrial robotic arm. After the position adjustment, the part of the integral impeller to be machined faces the industrial robotic arm, and the industrial robotic arm independently completes the tool movement for grooving rough machining.

[0021] Secondly, while the position of the overall impeller is adjusted, the machine tool CNC system tracks, provides feedback, and sends and adjusts commands in real time, thereby controlling the first and second movable joint arms of the industrial robot arm to complete the position change, so that the industrial robot arm can process the position of the overall impeller that needs to be processed, and repeat this cycle to complete the rough milling of the overall impeller blank.

[0022] During finishing, the machine tool CNC system controls the industrial robot arm to close according to the machining program end command, while keeping the machine tool open, so that the machine tool cutting tool on the machining spindle can work. During the machining process, the machining position of the integral impeller is adjusted by the rotation of the rotary table C and rotary table A on the machine tool, as well as the movement of the rotary table C in the Y-axis direction of the machine tool; the machining tool is adjusted by the movement of the machine tool in the X-axis and Z-axis directions, thereby completing the finishing of different positions of the integral impeller.

[0023] Furthermore, the machine tool CNC system performs machining according to the roughing and finishing integrated machining process. That is, after the industrial robot arm rough-machines the blade channel of one integral impeller, it immediately starts the machining machine to finish the blade profile of the integral impeller. Then, the industrial robot arm is started to rough-machine the blade channel of another integral impeller, and so on to complete the finishing of different positions of the integral impeller.

[0024] The beneficial effects of this invention are as follows: In the solution provided by this invention, the integral impeller to be processed is mounted on the rotary table of a machine tool, and the processing tool is mounted on the front of the industrial robot arm. By coordinating and controlling the motion coordinates of the machine tool table and the industrial robot arm, the grooving rough machining of the integral impeller can be realized. The robot can use layered milling, plunge milling, or rapid milling methods for processing. The machine tool structure can realize the semi-finishing and finishing of the integral impeller blades. That is, this invention completes the rough and finish machining of the integral impeller through the collaborative work of two mechanisms. The provided device transfers the rough machining function of the dedicated machine tool for integral impeller processing to the relatively inexpensive industrial robot arm without changing the installation position of the integral impeller. This can effectively reduce the wear of the machine tool spindle and lead screw guide during rough machining, which is beneficial to saving costs, extending the service life of the machine tool, and ensuring the processing quality and efficiency of the integral impeller. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a side view of the present invention.

[0027] In the diagram, 1-machine tool; 2-machine tool cutting tool; 3-support base; 4-rotary table A; 41-working surface of rotary table A; 5-industrial robot arm; 51-base; 52-first movable joint arm; 53-second movable joint arm; 61-first slide rail; 62-second slide rail; 8-slide seat; 9-rotary table C; 10-machine tool spindle; 11-frame; 12-machine tool Y-axis slide rail; 14-machine tool Z-axis slide rail; 15-CNC system; 16-quick change tooling positioning hole; 17-machine tool X-axis slide rail; 18-spindle base; 19-integral impeller; 20-cutting tool; 21-first ball screw; 22-second ball screw. Detailed Implementation

[0028] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0029] To achieve the above objectives, the present invention provides the following specific embodiments:

[0030] Example 1: As Figure 1 , Figure 2 As shown, a machine tool for roughing and finishing an integral impeller based on collaborative control includes a machine tool 1. A rotary table C is provided on the Y-axis guide rail 12 of the machine tool 1. A support base 3 is installed on the rotary table C. A rotary table A is provided on the support base 3. An integral impeller 19 is installed on the rotary table A through an impeller clamp. A machine tool spindle 10 is installed on the machine tool 1 corresponding to the integral impeller 19. The axis of the machine tool spindle 10 is parallel to the axis of the Y-axis guide rail 12. The machine tool spindle 10 is installed on a support frame 11 on one side of the machine tool 1 through X and Z axis displacement devices. An industrial robot arm 5 is installed on the other side of the machine tool 1 corresponding to the integral impeller 19.

[0031] The industrial robot arm 5 is equipped with an electric spindle at its end arm, and a machining tool 20 is provided on the electric spindle for rough grooving of the blank of the integral impeller 19. The machine tool spindle 10 is equipped with a machine tool machining tool 2 for fine machining of the integral impeller 19.

[0032] The machine tool 1 and industrial robot arm 5 are electrically connected to the CNC system 15. The CNC system 15 is used to input control CNC programs and control the rotational motion of the rotary table C and rotary table A, the Y-axis motion of the rotary table C, the X and Z axial motions of the machine tool spindle 10, and the machining motion of the industrial robot arm 5 driving the electric spindle, so as to realize the five-axis linkage machining of the integral impeller and the collaborative machining of the industrial robot arm.

[0033] The rotary table C slides on the machine tool Y-axis guide rail 12 via a first sliding groove 61 at the bottom of the rotary table C. A first ball screw 21 is provided between the rotary table C and the support frame 11 to drive the rotary table C to move along the Y-axis of the machine tool on the Y-axis guide rail 12. A servo motor driving the first ball screw 21 is installed inside the bed of the machine tool 1. A servo motor for driving the rotary table C to rotate is installed inside the rotary table C. The rotation axis of the rotary table C is perpendicular to the axis of the machine tool Y-axis guide rail 12.

[0034] All the servo motors are electrically connected to the CNC system 15. The CNC system 15 controls the start and stop of the servo motors, thereby causing the rotary table C to drive the integral impeller 19 to rotate and the rotary table C to move along the Y-axis of the machine tool.

[0035] The rotation axis of the rotary table C is perpendicular to the axis of the Y-axis guide rail 12 of the machine tool.

[0036] The integral impeller 19 is coaxially mounted on the rotary table A via an impeller clamp; at least three quick-change tooling positioning holes 16 are evenly distributed around the rotating working surface 41 of the rotary table A, which are used to fix and position the clamps of the integral impeller 19.

[0037] The machine tool X and Z axis displacement device includes: a spindle guide rail base 8 for driving the machine tool spindle 10 to move along the X axis of the machine tool for machining; a pair of machine tool X axis guide rails 17 are provided on the frame 11; a pair of second slide grooves 62 are provided on the spindle guide rail base 8 corresponding to the machine tool X axis guide rails 17; the spindle guide rail base 8 is slidably mounted on the frame 11 through the cooperation of the machine tool X axis guide rails 17 and the second slide grooves 62; a ball screw and a servo motor for driving the spindle guide rail base 8 to slide along the machine tool X axis guide rails 17 are provided in the bed of the machine tool 1, thereby realizing the machining movement of the machine tool spindle 10 in the X direction of the machine tool;

[0038] It also includes a spindle base 18 for driving the machine tool spindle 10 to move along the machine tool Z-axis for machining. A pair of machine tool Z-axis guide rails 14 are provided on the spindle base 8. A pair of third slide grooves are provided on the spindle base 18 corresponding to the machine tool Z-axis guide rails 14. The spindle base 18 is slidably mounted on the support frame 11 through the cooperation of the machine tool Z-axis guide rails 14 and the third slide grooves. A second ball screw 22 for driving the spindle base 18 to slide in the machine tool Z-axis slide grooves 14 is provided in the frame channel between the machine tool Z-axis guide rails 14. The two ends of the second ball screw 22 and the servo motor are provided in the spindle base 8, realizing the machining movement of the machine tool spindle 10 in the Z-axis of the machine tool.

[0039] The servo motors are all connected to the machine tool CNC system 15. The machine tool CNC system 15 is used to input CNC programs and control the servo motors respectively, thereby realizing the machining movements of the machine tool spindle 10 in the X and Z axes of the machine tool.

[0040] The industrial robotic arm is a six-degree-of-freedom robotic arm, including a base 51 mounted on a working surface, and at least one movable joint arm rotatable around the base 51. An electric spindle is mounted at the end of the movable arm. Two movable arms are included; the base 51 is connected to one end of a first movable joint arm 52 and a second movable joint arm 53 via a first movable joint arm 52, and the two movable joint arms are connected by a universal joint. The electric spindle is mounted at the other end of the second movable joint arm.

[0041] The machine tool Y-axis guide rail 12 is set on the inclined mounting surface of the machine tool 1. The motion axis of the machine tool Y-axis guide rail 12 is inclined at an angle α with the horizontal line, where α is 30 degrees to 45 degrees. The machine tool machining tool 2 on the machine tool spindle 10 and the tool 20 at the end of the industrial robot arm 5 extend into the inside of the impeller machining channel to realize the machining of the complex curved surface of the impeller and reduce the milling difficulty of the complex curved surface.

[0042] The following is for reference Figure 1-2 The solution of the present invention will be described in detail below:

[0043] The present invention relates to a special machine tool for roughing and finishing integral bladed disks under the coordinated control of an industrial robotic arm and a machine tool, comprising an integral bladed disk machining special machine tool 1 and an industrial robotic arm 5.

[0044] The dedicated machine tool 1 for machining the integral impeller 19 and the industrial robotic arm 5 are mounted on the same horizontal plane (working surface). The industrial robotic arm 5 is mounted opposite the machining spindle 10 of the dedicated machine tool 1. The machining tool 2 is mounted on the machining spindle 10 and used for semi-finishing and finishing of the integral impeller 19. The impeller fixture on the rotary table A is used to clamp the integral impeller 19 blank. During the machining process, the rotary impeller fixture rotates around the rotation axis, and the rotary table C rotates around the rotation axis and can slide down along the mounting slope of the machine tool's Y-axis slide rail, thereby adjusting the machining position of the integral impeller 19. The cutting tool 20 of the industrial robotic arm 5 is mounted on the end articulated arm of the industrial robotic arm 5 and is used for roughing the integral impeller 19.

[0045] In this invention, the clamping of the integral bladed disk 19 is completed by the bladed disk fixture. When the integral bladed disk 19 is placed on the rotary table A through the bladed disk fixture, the bladed disk fixture and the integral bladed disk 19 are roughly fixed through the quick-change tooling positioning hole 16 on the working surface of the rotary table A.

[0046] The integral bladed disk machining machine tool 1 and the industrial robotic arm 5 are controlled by a CNC machining system, with the program input through the machine tool control panel 15. During the machining process, the CNC system monitors the machining process in real time and sends feedback adjustment signals to the machine tool and robotic arm based on the monitoring data, thereby completing the closed-loop control of the integral bladed disk machining machine tool 1 and the robotic arm 5.

[0047] This invention combines an industrial robotic arm with a dedicated machine tool for machining integral bladed disks (IBDs). The industrial robotic arm is used for rough machining of the IBD blank 19, while the dedicated machine tool 1 is used for clamping, semi-finishing, and finishing the IBD blank 19. Using the industrial robotic arm 5 for rough milling avoids vibration and wear on the dedicated machine tool during the rough milling process, thus ensuring the machine tool's service life and machining accuracy. Using the dedicated machine tool 1 for clamping and finishing the IBD 19 ensures the machining positioning and accuracy of the IBD, thereby guaranteeing its machining quality, extending the machine tool's service life, and reducing machining costs.

[0048] Example 2: The present invention also provides a machining method for the integral bladed disk roughing and finishing machine tool based on collaborative control:

[0049] During rough machining, the blank of the integral bladed disk 19 and the bladed disk fixture are clamped on the rotary table A through the quick-change tooling positioning hole 16. The machine tool CNC system 15 controls the start of the machining machine tool 1 and the industrial robot arm 5 according to the input machining program.

[0050] First, the machining tool 20 at the end of the industrial robot arm 5 is used to perform rough machining of the integral impeller 19 by disc milling, plunge milling or rapid milling; the machining position of the integral impeller 19 is adjusted by the rotation of the rotary table C and rotary table A on the machine tool 1 and the movement of the rotary table C in the Y-axis direction of the machine tool. After the position is adjusted, the part of the integral impeller 19 to be machined faces the industrial robot arm 5, and the industrial robot arm 5 independently completes the tool movement for grooving rough machining.

[0051] Secondly, while the position of the integral bladed disk 19 is adjusted, the machine tool CNC system 15 tracks, provides feedback, and sends and adjusts instructions in real time, thereby controlling the first movable joint arm 52 and the second movable joint arm 53 of the industrial robot arm 5 to complete the position change, so that the industrial robot arm 5 can perform machining on the position of the integral bladed disk 19 that needs to be machined, and repeat this cycle to complete the rough milling of the integral bladed disk 19 blank.

[0052] During finishing, the machine tool CNC system 15 controls the industrial robot arm 5 to close according to the machining program end command, while keeping the machining machine tool 1 open, so that the machine tool cutting tool 2 on the machining spindle 10 can work. During the machining process, the machining position of the integral impeller 19 is still adjusted by the rotation of the rotary table C and rotary table A on the machining machine tool 1, as well as the movement of the rotary table C in the Y-axis direction of the machine tool; the machining tool 2 adjusts its machining position by the movement of the X-axis and Z-axis of the machine tool, thereby cooperating to complete the finishing of different positions of the integral impeller 19.

[0053] In order to improve the service life of the special machine tool for integral bladed disk processing and ensure the processing quality and efficiency of integral bladed disks, the method proposed in this invention is that the worktable of the integral bladed disk processing machine tool is composed of two rotary worktables, one of which, rotary worktable A, is installed on rotary worktable C, thereby realizing rotational motion around two linear axes and motion along one linear axis. The processing spindle 10 of the machine tool can move along the two linear axes, thereby realizing five-axis linkage processing of integral bladed disks.

[0054] The industrial robotic arm 5 is installed opposite the machine tool spindle, and the integral impeller 19 is fixed on the rotary table A. The processing position of the integral impeller 19 is adjusted by the rotation of the rotary table C and the rotary table A and the sliding on the Y-axis slide rail of the machine tool. The industrial robotic arm 5 can process the required position. When the industrial robotic arm 5 is processing, the integral impeller 19 is installed on the impeller fixture of the rotary table A, realizing one clamping and completing the division of labor and collaborative processing of the machine tool 1 and the industrial robotic arm 5.

[0055] Example 3: Same as Example 2, except that: the machine tool CNC system 15 performs machining according to the rough and finish machining process. That is, after the industrial robot arm 5 rough-machines one blade channel of the integral bladed disk 19, the machining machine tool 1 is immediately started to finish the blade profile of the integral bladed disk 19. Then, the industrial robot arm 5 is started to rough-machine another blade channel of the integral bladed disk 19, and so on to complete the finish machining of different positions of the integral bladed disk 19.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A machine tool for roughing and finishing integral bladed disks based on collaborative control, characterized in that, The machine tool (1) includes a rotary table C (9) on the Y-axis guide rail (12) of the machine tool (1). A support base (3) is installed on the rotary table C (9). A rotary table A (4) is installed on the support base (3). An integral impeller (19) is installed on the rotary table A (4) through an impeller clamp. A machine tool spindle (10) is installed on the machine tool (1) corresponding to the integral impeller (19). The axis of the machine tool spindle (10) is parallel to the axis of the Y-axis guide rail (12) of the machine tool. The machine tool spindle (10) is installed on a support frame (11) on one side of the machine tool (1) through the X and Z axis displacement devices of the machine tool. An industrial robot arm (5) is installed on the other side of the machine tool (1) facing the integral impeller (19). An electric spindle is installed on the end arm of the industrial robot arm (5), and a machining tool (20) is provided on the electric spindle for rough grooving of the blank of the integral impeller (19). A machine tool machining tool (2) is installed on the machine tool spindle (10) for fine machining of the integral impeller (19). The machine tool (1) and industrial robot arm (5) are electrically connected to the machine tool CNC system (15). The machine tool CNC system (15) is used to input control CNC program and control the rotation of the rotary table C (9) and rotary table A (4), the machine tool Y-axis movement of the rotary table C (9), the X and Z axial movements of the machine tool spindle (10), and the machining movement of the electric spindle driven by the industrial robot arm (5), so as to realize the five-axis linkage machining of the integral impeller and the collaborative machining of the industrial robot arm. The machine tool Y-axis guide rail (12) is set on the inclined mounting surface of the machine tool (1). The angle between the motion axis of the machine tool Y-axis guide rail (12) and the horizontal line is α, where α is 30 degrees to 45 degrees. The machine tool machining tool (2) on the machine tool spindle (10) and the tool (20) at the end of the industrial robot arm (5) extend into the inside of the impeller machining channel to realize the machining of the complex curved surface of the impeller and reduce the milling difficulty of the complex curved surface. The machining method of the integral bladed disk roughing and finishing machine tool based on collaborative control includes the following steps: During rough machining, the blank of the integral bladed disk (19) and the bladed disk fixture are clamped on the rotary table A (4) through the quick-change tooling positioning hole (16). The machine tool CNC system (15) controls the start of the machining machine tool (1) and the industrial robot arm (5) according to the input machining program. First, the integral impeller (19) is rough machined by disc milling, plunge milling or rapid milling using the machining tool (20) at the end of the industrial robot arm (5); the machining position of the integral impeller (19) is adjusted by the rotation of the rotary table C (9) and the rotary table A (4) on the machine tool (1) and the movement of the rotary table C (9) in the Y-axis direction of the machine tool, so that the machining position of the integral impeller faces the industrial robot arm (5). After the position adjustment, the machining part of the integral impeller (19) faces the industrial robot arm (5), and the industrial robot arm (5) independently completes the tool movement of the grooving rough machining. Secondly, while the position of the integral impeller (19) is adjusted, the machine tool CNC system (15) tracks, provides feedback and sends and adjusts instructions in real time, thereby controlling the first movable joint arm (52) and the second movable joint arm (53) of the industrial robot arm (5) to complete the position change, so that the industrial robot arm (5) can process the position that the integral impeller (19) needs to be processed, and repeat this cycle to complete the rough milling of the integral impeller (19) blank; During finishing, the machine tool CNC system (15) controls the industrial robot arm (5) to close according to the machining program end instruction, while keeping the machining machine tool (1) open, so that the machine tool machining tool (2) on the machine tool spindle (10) can work. During the machining process, the machining position of the integral impeller (19) is adjusted by the rotation of the rotary table C (9) and the rotary table A (4) on the machining machine tool (1) and the movement of the rotary table C (9) in the Y-axis direction of the machine tool; the machining tool (2) is adjusted by the movement of the X-axis and Z-axis of the machine tool, so as to complete the finishing of different positions of the integral impeller (19); The machine tool CNC system (15) performs machining according to the rough and finish machining process. That is, after the industrial robot arm (5) rough-machines the blade channel of one integral bladed disk (19), it immediately starts the machining machine tool (1) to finish the blade surface of the integral bladed disk (19). Then, the industrial robot arm (5) is started to rough-machine the blade channel of another integral bladed disk (19), and so on to complete the finish machining of different positions of the integral bladed disk (19).

2. The integrated bladed disk roughing and finishing machine tool based on collaborative control as described in claim 1, characterized in that, The rotary table C (9) slides on the Y-axis guide rail (12) of the machine tool through the first slide groove (61) at its bottom. A first ball screw (21) is provided between the rotary table C (9) and the support frame (11) to drive the rotary table C (9) to move along the Y-axis of the machine tool on the Y-axis guide rail (12). The servo motor that drives the first ball screw (21) is set inside the bed of the machine tool (1). The servo motor that drives the rotary table C (9) to rotate is set inside the rotary table C (9). The rotation axis of the rotary table C (9) is perpendicular to the axis of the Y-axis guide rail (12) of the machine tool. All the servo motors are electrically connected to the machine tool CNC system (15). The machine tool CNC system (15) controls the start and stop of the servo motors so that the rotary table C (9) drives the integral impeller (19) to rotate and the rotary table C (9) to move in the Y-axis of the machine tool.

3. The integrated bladed disk roughing and finishing machine tool based on collaborative control as described in claim 2, characterized in that, The rotation axis of the rotary table C (9) is perpendicular to the axis of the Y-axis guide rail (12) of the machine tool.

4. The integrated roughing and finishing machine tool for integral bladed disks based on collaborative control as described in claim 1, characterized in that, The integral impeller (19) is coaxially mounted on the rotary table A (4) by an impeller clamp; at least three quick-change tooling positioning holes (16) are provided circumferentially and evenly on the rotating working surface (41) of the rotary table A. The quick-change tooling positioning holes (16) are used to fix and position the impeller clamp of the integral impeller (19).

5. The integrated roughing and finishing machine tool for integral bladed disks based on collaborative control as described in claim 1, characterized in that, The machine tool X and Z axis displacement device includes: The spindle guide base (8) is used to drive the machine tool spindle (10) to move along the X-axis of the machine tool for machining. The frame (11) is provided with a machine tool X-axis guide rail (17). The spindle guide base (8) is provided with a second slide groove (62) corresponding to the machine tool X-axis guide rail (17). The spindle guide base (8) is slidably mounted on the frame (11) through the cooperation of the machine tool X-axis guide rail (17) and the second slide groove (62). The ball screw and servo motor used to drive the spindle guide base (8) to slide along the machine tool X-axis guide rail (17) are installed in the bed of the machining machine tool (1), realizing the machining movement of the machine tool spindle (10) in the X direction of the machine tool. It also includes a spindle base (18) for driving the machine tool spindle (10) to move along the machine tool Z-axis for machining. A pair of machine tool Z-axis guide rails (14) are provided on the spindle base (8). A pair of third slide grooves are provided on the spindle base (18) corresponding to the machine tool Z-axis guide rails (14). The spindle base (18) is slidably mounted on the frame (11) through the cooperation of the machine tool Z-axis guide rails (14) and the third slide grooves. A second ball screw (22) for driving the spindle base (18) to slide along the machine tool Z-axis guide rails (14) is set in the frame channel between the machine tool Z-axis guide rails (14). The two ends of the second ball screw (22) and the servo motor are set in the spindle base (8), realizing the machining movement of the machine tool spindle (10) in the machine tool Z direction. The servo motors are all connected to the machine tool CNC system (15). The machine tool CNC system (15) is used to input CNC programs and control the servo motors respectively, thereby realizing the machining motion of the machine tool spindle (10) in the X and Z axes of the machine tool.

6. The integrated roughing and finishing machine tool for integral bladed disks based on collaborative control as described in claim 1, characterized in that, The industrial robotic arm (5) is a six-degree-of-freedom robotic arm, including a base (51) mounted on the working surface, and at least one movable joint arm that can rotate around the base on the base (51), and the electric spindle is mounted on the end of the movable arm.

7. The integrated roughing and finishing machine tool for integral bladed disks based on collaborative control as described in claim 6, characterized in that, The movable arm includes two arms. The base (51) is connected to one end of the second movable joint arm (53) through the first movable joint arm (52). The two movable joint arms are connected by a universal joint. The electric spindle is installed at the other end of the second movable joint arm (53).

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