Multi-axis machining machine tool with adjustable freedom and variable force

Abstract

The present invention relates to a multi-axis machining machine with adjustable degree of freedom and variable force, which comprises a machine base; a workpiece fixture, which is mounted on the machine base and is used to clamp and position a workpiece to be machined; a driving mechanism, which is mounted on the machine base and comprises a first slider movable along a first direction; and a variable force cutting mechanism, which comprises a first power source, a transmission seat and a tool mounting seat, wherein the first power source is mounted on the first slider, the first power source is drivingly connected to one end of the transmission seat, the transmission seat is rotatably mounted on the first slider, and the tool mounting seat is mounted on the side of the transmission seat away from the first slider; wherein, when the first power source drives the transmission seat to rotate relative to the first slider, the transmission seat synchronously drives the tool mounting seat to rotate relative to the first slider, a machining tool is mounted on the tool mounting seat, and the machining tool follows the rotation of the tool mounting seat and adapts to the morphological changes of the workpiece to be machined, and always stays close to the force direction of the workpiece to be machined.

Description

Technical Field

[0001] The invention relates to the technical field of automated machining machine tools, and in particular to a multi-axis machining machine tool capable of adjusting the degree of freedom and variable force. Background Art

[0002] A multi-axis machine tool refers to a machine tool that has at least one rotating coordinate axis in addition to the conventional three moving coordinate axes of x, y, and z, that is, a 4-5-axis CNC machine tool. It is often used in the mechanical field for structural processing such as special-shaped holes, special-shaped surfaces, and complex curved surfaces. It has the advantages of strong processing capabilities and high processing precision.

[0003] However, existing multi-axis machine tools are usually complex in structure and have low efficiency when processing parts with curved surfaces, especially special-shaped surfaces. In addition, when processing parts with curved surfaces and special-shaped materials, the driving force requirements and direction of the tool axis cannot be adaptively adjusted as the shape of the curved surface changes, which leads to the inability of the cutting force and direction of the machining tool installed on the tool axis to adapt to curved surfaces of different shapes, resulting in low cutting efficiency and machining accuracy, poor automatic error correction capability of the machining tool, and frequent abnormal force on the tool, resulting in frequent tool breakage, which increases machining costs and potential safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-axis machining machine with adjustable degrees of freedom and variable force, so as to solve the problems of poor machining performance in the prior art, weak ability to adapt to complex part morphology, resulting in low cutting efficiency and machining accuracy, tool breakage, increased costs and potential safety hazards.

[0005] According to one aspect of the present invention, there is provided a multi-axis machining tool with adjustable degrees of freedom and variable force, comprising:

[0006] Machine base;

[0007] A workpiece fixture, which is installed on the machine base and is used to clamp and position the workpiece to be processed;

[0008] A driving mechanism, the driving mechanism is installed on the base, and the driving mechanism includes a first sliding block movable along a first direction; and

[0009] A variable force cutting mechanism, the variable force cutting mechanism comprising a first power source, a transmission seat and a tool mounting seat, the first power source is mounted on the first slider, and the first power source is drivingly connected to one end of the transmission seat, the transmission seat is rotatably mounted on the first slider, and the tool mounting seat is mounted on the side of the transmission seat away from the first slider;

[0010] Among them, when the first power source drives the transmission seat to rotate relative to the first slider, the transmission seat synchronously drives the tool mounting seat to rotate relative to the first slider. A processing tool is installed on the tool mounting seat. The processing tool follows the rotation of the tool mounting seat and adapts to the morphology changes of the workpiece to be processed, and always stays close to the force direction of the workpiece to be processed.

[0011] In one embodiment, the first power source is used to output telescopic linear power, the variable force cutting mechanism further includes a first rotation joint, and the drive shaft of the first power source is connected to the transmission seat through the first rotation joint.

[0012] In one embodiment, the variable force cutting mechanism further comprises a second power source, which is installed on the first slider at a distance from the first power source in the first direction, and the power source is drivingly connected to the other end of the transmission seat, and one end and the other end of the transmission seat are opposite ends of the transmission seat respectively;

[0013] Among them, when the first power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates clockwise relative to the first slider, and when the second power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates counterclockwise relative to the first slider. When the machining tool contacts the workpiece to be processed and the force of the first power source is greater than the force of the second power source, the machining tool generates a first tilting pressure on the workpiece to be processed; when the machining tool contacts the workpiece to be processed and the force of the second power source is greater than the force of the first power source, the machining tool generates a second tilting pressure on the workpiece to be processed.

[0014] In one embodiment, the second power source is used to output telescopic linear power, the variable force cutting mechanism further includes a second rotating joint, and the driving shaft of the second power source is connected to the transmission seat through the second rotating joint.

[0015] In one embodiment, the variable force cutting mechanism further includes a first pressure sensor, a second pressure sensor and a controller, and the first pressure sensor and the second pressure sensor are electrically connected to the controller respectively;

[0016] The first pressure sensor is arranged between the first power source and the first slider, and the second pressure sensor is arranged between the second power source and the first slider; when the first power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates clockwise relative to the first slider, and when the second power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates counterclockwise relative to the first slider. When the machining tool contacts the workpiece to be machined and the force of the first power source is greater than the force of the second power source, the machining tool generates a first tilting pressure on the workpiece to be machined; when the force of the second power source is greater than the force of the first power source, the machining tool generates a second tilting pressure on the workpiece to be machined.

[0017] In one of the embodiments, the variable force cutting mechanism further includes a visual sensor, which is mounted on the tool mounting seat and is used to identify the state of the workpiece to be processed, so that the variable force cutting mechanism can adapt to adjust the inclination of the tool mounting seat relative to the workpiece fixture.

[0018] In one embodiment, the driving mechanism also includes a first motor, a first screw rod and a first guide rail. The first motor is disposed on the machine base. The first screw rod and the first guide rail are both disposed on the machine base side by side and spaced apart along a first direction. The first screw rod is connected to the first motor. The first slider is movably mounted on the first screw rod and slidably cooperates with the first guide rail.

[0019] In one embodiment, the driving mechanism further includes a second motor, a second screw rod, a second guide rail, a second slider and a shift seat, the shift seat includes a base plate and a movable plate stacked and spaced apart, and a swing driver installed between the base plate and the movable plate, the swing driver is used to drive the movable plate to reciprocate relative to the base plate in a vertical plane where the first direction is located;

[0020] The first motor, the first screw rod, the first guide rail and the first slider are respectively mounted on the movable plate, the second motor, the second screw rod and the second guide rail are respectively mounted on the machine base, and the second screw rod and the second guide rail are arranged side by side and extend along the second direction, the second motor is connected to the second screw rod, and the second slider is movably mounted on the second screw rod and connected to the substrate; wherein the second direction is perpendicular to the first direction.

[0021] In one embodiment, the workpiece fixture includes a support seat, a driving seat, a driving rotation assembly, an actuator shaft and a fixture body, the machine base forms a processing chamber, the support seat and the driving seat are arranged in the processing chamber with a spacing relative to each other, the driving rotation is installed on the driving seat, one end of the driving shaft is drivingly connected to the driving rotation assembly, and the other end is rotatably installed on the support seat, the fixture body is installed on the driving shaft, and the fixture body can reciprocate in a vertical plane where the second direction is located under the drive of the driving shaft.

[0022] In one embodiment, the fixture body includes a rotary driver, a carrier plate, a power unit and at least two clamping blocks, the rotary driver is arranged between the driving shaft and the carrier plate, the power unit is installed on the upper surface of the carrier plate away from the driving shaft, and the at least two clamping blocks are driven and connected to the power unit so that the at least two clamping blocks can be closed or moved away from each other.

[0023] Implementing the embodiments of the present invention will have the following beneficial effects:

[0024] When the multi-axis machining tool with adjustable degree of freedom and variable force adopting the present solution is working, the workpiece to be machined is clamped on the workpiece fixture and fixed, and then the driving mechanism is started. The driving mechanism can drive the first slider to move along the first direction, thereby driving the variable force cutting mechanism to move along the first direction relative to the workpiece to be machined, so that the machining tool installed on the tool mounting seat can process the workpiece to be machined; when the workpiece to be machined is a surface with a curved surface or a complex morphology, since the variable force cutting mechanism is composed of a first power source, a transmission seat and a tool mounting seat, the first power source can drive the transmission seat to rotate relative to the first slider, so that the transmission seat synchronously drives the tool mounting seat relative to the first The slider rotates, so that the processing tool follows the rotation of the tool mounting seat and adapts to the changes in the morphology of the workpiece to be processed, and always stays close to the force direction of the workpiece to be processed; that is to say, the processing tool with rotation ability can always be pressed against the surface of the workpiece to be processed with appropriate cutting force, and adaptively rotate and adjust following the changes in the surface morphology of the workpiece to be processed, so that the size and direction of the cutting force of the processing tool can adapt to the curved surfaces of different morphologies, ensuring the cutting efficiency and processing accuracy, and improving the automatic error correction capability of the processing tool, avoiding the phenomenon of frequent tool breakage due to frequent abnormal force on the processing tool, resulting in increased processing costs and potential great safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of a multi-axis machining tool with adjustable degrees of freedom and variable force according to an embodiment;

[0027] Figure 2 for Figure 1 A structural diagram from another perspective;

[0028] Figure 3 Schematic diagram of the structure of a shift seat according to an embodiment.

[0029] in:

[0030] 10, machine base; 20, workpiece fixture; 21, support seat; 22, drive seat; 23, actuator shaft; 24, fixture body; 30, drive mechanism; 31, first slider; 32, first motor; 33, first screw rod; 34, first guide rail; 35, second motor; 36, second screw rod; 37, second guide rail; 38, second slider; 39, shift seat; 391, base plate; 392, swing driver; 393, movable plate; 40, variable force cutting mechanism; 41, first power source; 42, transmission seat; 43, tool mounting seat; 44, second power source. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0032] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0034] Please refer to Figure 1-Figure 2 , is a multi-axis machining tool with adjustable degree of freedom and variable force according to an embodiment, which includes a machine base 10, a workpiece fixture 20, a driving mechanism 30 and a variable force cutting mechanism 40. Among them, the machine base 10 is a bearing body, which is used to load and fix the workpiece fixture 20, the driving mechanism 30 and the convenient cutting mechanism, thereby improving the integration degree of the multi-axis machining tool.

[0035] Optionally, the machine base 10 may be a fixed machine base 10 or a movable machine base 10. Preferably, a movable machine base 10 is used to facilitate flexible change of the working place.

[0036] When the mobile base 10 is designed, a plurality of rollers are installed at the bottom of the base 10 .

[0037] The workpiece fixture 20 is installed on the machine base 10 and is used to clamp and position the workpiece to be processed. The driving mechanism 30 is installed on the machine base 10, and the driving mechanism 30 includes a first slider 31 that can move along a first direction. The variable force cutting mechanism 40 includes a first power source 41, a transmission seat 42 and a tool mounting seat 43. The first power source 41 is installed on the first slider 31, and the first power source 41 is drivingly connected to one end of the transmission seat 42. The transmission seat 42 is rotatably installed on the first slider 31, and the tool mounting seat 43 is installed on the side of the transmission seat 42 away from the first slider 31.

[0038] When the first power source 41 drives the transmission seat 42 to rotate relative to the first slider 31, the transmission seat 42 synchronously drives the tool mounting seat 43 to rotate relative to the first slider 31. A processing tool is installed on the tool mounting seat 43. The processing tool follows the rotation of the tool mounting seat 43 and adapts to the morphological changes of the workpiece to be processed, and always stays close to the force direction of the workpiece to be processed.

[0039] The implementation of the embodiment of the present invention will have the following beneficial effects: when the multi-axis machining tool with adjustable degree of freedom and variable force of the present solution is working, the workpiece to be machined is clamped on the workpiece fixture 20 and fixed, and then the driving mechanism 30 is started. The driving mechanism 30 can drive the first slider 31 to move along the first direction, thereby driving the variable force cutting mechanism 40 to move along the first direction relative to the workpiece to be machined, so that the machining tool installed on the tool mounting seat 43 can machine the workpiece to be machined; when the workpiece to be machined is a surface with a curved surface or a complex morphology, since the variable force cutting mechanism 40 is composed of the first power source 41, the transmission seat 42 and the tool mounting seat 43, the first power source 41 can drive the transmission seat 42 to rotate relative to the first slider 31, so that the transmission seat 42 synchronously drives the tool mounting seat 43 to rotate relative to the first slider 31, so that the machining tool follows the tool mounting seat 43 to rotate. 3's rotation adapts to the changes in the morphology of the workpiece to be processed, and always stays close to the force direction of the workpiece to be processed; that is, the machining tool with the ability to rotate can always be pressed against the surface of the workpiece to be processed with an appropriate cutting force, and adaptively rotates and adjusts following the changes in the surface morphology of the workpiece to be processed, so that the size and direction of the cutting force of the machining tool can adapt to the curved surfaces of different morphologies, ensuring the cutting efficiency and machining accuracy, and improving the automatic error correction capability of the machining tool, avoiding the frequent abnormal force on the machining tool and the frequent tool breakage, resulting in increased machining costs and potential great safety hazards.

[0040] In one embodiment, the first power source 41 is used to output telescopic linear power, for example, the first power source 41 can be one of a cylinder, an electric push rod, a driving pump, etc. The variable force cutting mechanism 40 also includes a first rotating joint, and the driving shaft of the first power source 41 is connected to the transmission seat 42 through the first rotating joint. When the first power source 41 drives the telescopic shaft to telescope, the first rotating joint can convert the linear driving force into a rotational driving force and then drive the transmission seat 42 to rotate, avoiding the problem of driving interference between the first power source 41 and the transmission seat 42 caused by power mismatch.

[0041] In the present application, the first direction may specifically refer to the X-axis direction.

[0042] Furthermore, the variable force cutting mechanism 40 also includes a second power source 44, which is installed on the first slider 31 in the first direction and is spaced apart from the first power source 41. The power source is drivingly connected to the other end of the transmission seat 42, and one end and the other end of the transmission seat 42 are the opposite ends of the transmission seat 42 respectively.

[0043] Among them, when the first power source 41 drives the transmission seat 42 to rotate relative to the first slider 31, the tool mounting seat 43 rotates clockwise relative to the first slider 31, and when the second power source 44 drives the transmission seat 42 to rotate relative to the first slider 31, the tool mounting seat 43 rotates counterclockwise relative to the first slider 31. When the machining tool contacts the workpiece to be processed and the force of the first power source 41 is greater than the force of the second power source 44, the machining tool generates a first tilting pressure on the workpiece to be processed; when the machining tool contacts the workpiece to be processed and the force of the second power source 44 is greater than the force of the first power source 41, the machining tool generates a second tilting pressure on the workpiece to be processed.

[0044] The first power source 41 and the second power source 44 are respectively connected to the opposite ends of the transmission base 42. On the one hand, the first power source 41 and the second power source 44 only need to have the ability to output unidirectional driving force, thereby reducing the performance requirements of the first power source 41 and the second power source 44; on the other hand, when the first power source 41 is controlled to work alone, the first power source 41 can drive the tool mounting seat 43 to rotate counterclockwise relative to the first slider 31 in one direction, so that the processing tool adapts to a change in the surface morphology of the workpiece to be processed (such as the degree of inclination, the change in curvature, the change in concave and convex, etc.) to perform cutting processing with a first inclination pressure; when the second power source 44 is controlled to work alone, the second power source 44 can drive the tool mounting seat 43 to rotate clockwise relative to the first slider 31 in one direction, so that the processing tool adapts to another change in the surface morphology of the workpiece to be processed to perform cutting processing with a second inclination pressure.

[0045] In another embodiment, the second power source 44 is used to output telescopic linear power, and the variable force cutting mechanism 40 further includes a second rotating joint, and the driving shaft of the second power source 44 is connected to the transmission seat 42 through the second rotating joint. When the second power source 44 drives the telescopic shaft to telescope, the second rotating joint can convert the linear driving force into a rotational driving force and then drive the transmission seat 42 to rotate, thereby avoiding the problem of driving interference between the second power source 44 and the transmission seat 42 caused by power mismatch.

[0046] The first rotation joint and the second rotation joint may be universal ball joints.

[0047] In addition, in another embodiment, the variable force cutting mechanism 40 also includes a first pressure sensor, a second pressure sensor and a controller, and the first pressure sensor and the second pressure sensor are electrically connected to the controller respectively; the first pressure sensor is arranged between the first power source 41 and the first slider 31, and the second pressure sensor is arranged between the second power source 44 and the first slider 31; when the first power source 41 drives the transmission seat 42 to rotate relative to the first slider 31, the tool mounting seat 43 rotates clockwise relative to the first slider 31, and when the second power source 44 drives the transmission seat 42 to rotate relative to the first slider 31, the tool mounting seat 43 rotates counterclockwise relative to the first slider 31, and when the machining tool contacts the workpiece to be machined and the force of the first power source 41 is greater than the force of the second power source 44, the machining tool generates a first tilt pressure on the workpiece to be machined; when the force of the second power source 44 is greater than the force of the first power source 41, the machining tool generates a second tilt pressure on the workpiece to be machined.

[0048] The first pressure sensor and the second pressure sensor can accurately detect the reaction force generated by the feedback transmission seat 42 on the first power source 41 and the second power source 44, that is, when the machining tool contacts and cuts the workpiece to be machined, the workpiece to be machined generates a reaction force on the machining tool, the tool mounting seat 43 and the transmission seat 42. It is easy to understand that when the morphology of the workpiece to be machined changes, the reaction force on the machining tool will either change from large to small, or change from small to large. The intuitive feedback is the force on the first power source 41 detected by the first pressure sensor and the force on the second power source 44 detected by the second pressure sensor. Therefore, when the force of the first power source 41 is greater than the force of the second power source 44, the machining tool generates a first tilt pressure on the workpiece to be machined to adapt to the machining needs of the first morphological change of the workpiece to be machined; or when the force of the second power source 44 is greater than the force of the first power source 41, the machining tool generates a second tilt pressure on the workpiece to be machined to adapt to the machining needs of the second morphological change of the workpiece.

[0049] In addition, the variable force cutting mechanism 40 also includes a visual sensor, which is installed on the tool mounting seat 43 and is used to identify the state of the workpiece to be processed, so that the variable force cutting mechanism 40 can adapt to adjust the inclination of the tool mounting seat 43 relative to the workpiece fixture 20. The visual sensor can take a clear topographic image of the workpiece to be processed in real time and transmit it back to the controller, so that the controller can more accurately determine the topographic structure currently being processed and the topographic structure to be processed according to the tool movement trajectory, so as to more accurately control the first power source 41 and / or the second power source 44 to act, so as to better adjust the inclination of the processing tool to obtain better processing efficiency and processing quality.

[0050] See also Figure 1 and Figure 2 In one embodiment, the driving mechanism 30 further includes a first motor 32, a first screw rod 33 and a first guide rail 34. The first motor 32 is disposed on the machine base 10. The first screw rod 33 and the first guide rail 34 are both disposed on the machine base 10 in parallel and spaced relation along a first direction. The first screw rod 33 is connected to the first motor 32. The first slider 31 is movably mounted on the first screw rod 33 and slidably cooperates with the first guide rail 34. During processing, the first motor 32 drives the first screw rod 33 to rotate, and the first screw rod 33 can drive the first slider 31 to reciprocate along the axial direction of the first screw rod 33 through the thread pair transmission, so as to drive the tool mounting seat 43 and the processing tool thereon to change the processing position, thereby meeting the processing requirements of the workpiece to be processed. In this process, the first guide rail 34 plays a role in moving the first slider 31 and limiting the position.

[0051] See also Figure 1-Figure 3 , further, the driving mechanism 30 also includes a second motor 35, a second screw rod 36, a second guide rail 37, a second slider 38 and a shift seat 39, the shift seat 39 includes a stacked and spaced substrate 391 and a movable plate 393, and a swing driver 392 installed between the substrate 391 and the movable plate 393, the swing driver 392 is used to drive the movable plate 393 to reciprocate relative to the substrate 391 in a vertical plane in the first direction; the first motor 32, the first screw rod 33, the first guide rail 34 and the first slider 31 are respectively installed on the movable plate 393, the second motor 35, the second screw rod 36, the second guide rail 37 are respectively installed on the machine base 10, and the second screw rod 36 and the second guide rail 37 are arranged side by side and spaced and both extend along the second direction, the second motor 35 is connected to the second screw rod 36, the second slider 3 8 is movably mounted on the second screw rod 36 and connected to the base plate 391; wherein the second direction is perpendicular to the first direction.

[0052] During processing, the second motor 35 can also drive the second screw rod 36 to rotate, so that the second screw rod 36 can drive the second slider 38 to slide back and forth along the axial direction of the second screw rod 36 through the thread pair transmission, so as to drive the tool mounting seat 43 and the processing tool thereon to move along the second direction to change the processing position, that is, the processing tool can move arbitrarily in the plane where the XY is located to better meet the processing needs of different morphological parts of the surface of the workpiece to be processed. In this process, the second guide rail 37 plays a role in moving the second slider 38. In addition, while processing, the swing driver 392 can also synchronously drive the movable plate 393 to rotate in the vertical plane relative to the base plate 391, and the movable plate 393 drives the tool mounting seat 43 and the processing tool installed thereon to move up and down for adjustment, so that the processing tool can meet the ups and downs of the morphology of the workpiece to be processed, so that the processing tool has the ability to adaptively close to the surface of the workpiece to be processed for continuous processing.

[0053] Optionally, the swing drive 392 adopts a swing cylinder or the like.

[0054] In one embodiment, the workpiece fixture 20 includes a support seat 21, a driving seat 22, a driving rotation assembly, an actuator shaft 23 and a fixture body 24. The machine base 10 forms a processing chamber. The support seat 21 and the driving seat 22 are arranged in the processing chamber with a spacing and relative to each other. The driving rotation is installed on the driving seat 22. One end of the driving shaft is drivingly connected to the driving rotation assembly, and the other end is rotatably installed on the support seat 21. The fixture body 24 is installed on the driving shaft. The fixture body 24 can reciprocate in a vertical plane where the second direction is located under the drive of the driving shaft.

[0055] Therefore, during processing, the driving rotating assembly first drives the actuator shaft 23 to rotate, and the actuator shaft 23 will synchronously drive the fixture body 24 to reciprocate in the vertical plane where the Y-axis direction (i.e., the second direction) is located, so as to achieve the effect of driving the workpiece to be processed to rotate in the vertical plane, so that different topographical parts on the surface of the workpiece to be processed can form a suitable inclination angle with the processing tool, so as to ensure that the blade of the processing tool is in good contact with the workpiece to be processed and obtain better processing efficiency.

[0056] Furthermore, the fixture body 24 includes a rotary driver, a carrier plate, a power unit and at least two clamping blocks. The rotary driver is arranged between the driving shaft and the carrier plate, the power unit is installed on the upper surface of the carrier plate away from the driving shaft, and the at least two clamping blocks are connected to the power unit so that the at least two clamping blocks can be closed or moved away from each other. The rotary driver is used to drive the carrier plate, the power unit and the at least two clamping blocks to rotate in any direction and angle within the horizontal plane where XY is located, so as to transfer different morphological parts in the peripheral direction of the workpiece to be processed to align with and contact the processing tool, and then cooperate with the movement of the processing tool to obtain more directional freedom of adjustment, so that the processing tool can better adapt to the processing needs of the workpiece to be processed with more complex morphological surfaces. The power unit drives at least two clamping blocks to gather and close towards each other to clamp the workpiece to be processed, or drives at least two clamping blocks to open away from each other to release the workpiece to be processed, so that the clamping operation of the workpiece to be processed is more labor-saving and efficient.

[0057] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multi-axis machining machine tool with adjustable freedom and variable force, characterized in that: include: Machine base; A workpiece fixture, which is installed on the machine base and is used to clamp and position the workpiece to be processed; A driving mechanism, the driving mechanism is installed on the base, and the driving mechanism includes a first sliding block movable along a first direction; and A variable force cutting mechanism, the variable force cutting mechanism comprising a first power source, a transmission seat and a tool mounting seat, the first power source is mounted on the first slider, and the first power source is drivingly connected to one end of the transmission seat, the transmission seat is rotatably mounted on the first slider, and the tool mounting seat is mounted on the side of the transmission seat away from the first slider; When the first power source drives the transmission seat to rotate relative to the first slider, the transmission seat synchronously drives the tool mounting seat to rotate relative to the first slider. A machining tool is mounted on the tool mounting seat. The machining tool follows the rotation of the tool mounting seat and adapts to the morphology change of the workpiece to be machined, and is always in close contact with the force direction of the workpiece to be machined. The variable force cutting mechanism further includes a second power source, which is installed on the first slider at a distance from the first power source in the first direction, and the second power source is drivingly connected to the other end of the transmission seat, and one end and the other end of the transmission seat are opposite ends of the transmission seat respectively; When the first power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates clockwise relative to the first slider; when the second power source drives the transmission seat to rotate relative to the first slider, the tool mounting seat rotates counterclockwise relative to the first slider; when the machining tool contacts the workpiece to be processed and the force of the first power source is greater than the force of the second power source, the machining tool generates a first tilting pressure on the workpiece to be processed; when the machining tool contacts the workpiece to be processed and the force of the second power source is greater than the force of the first power source, the machining tool generates a second tilting pressure on the workpiece to be processed; The driving mechanism further includes a first motor, a first screw rod and a first guide rail, wherein the first motor is disposed on the machine base, the first screw rod and the first guide rail are both disposed on the machine base in parallel and spaced apart along a first direction, the first screw rod is connected to the first motor, and the first slider is movably mounted on the first screw rod and slidably cooperates with the first guide rail; The driving mechanism further includes a second motor, a second screw rod, a second guide rail, a second slider and a shift seat, wherein the shift seat includes a base plate and a movable plate which are stacked and spaced apart, and a swing driver installed between the base plate and the movable plate, wherein the swing driver is used to drive the movable plate to reciprocate relative to the base plate in a vertical plane where the first direction is located; The first motor, the first screw rod, the first guide rail and the first slider are respectively mounted on the movable plate, the second motor, the second screw rod and the second guide rail are respectively mounted on the machine base, and the second screw rod and the second guide rail are arranged side by side and extend along the second direction, the second motor is connected to the second screw rod, and the second slider is movably mounted on the second screw rod and connected to the substrate; wherein the second direction is perpendicular to the first direction.

2. The multi-axis machining tool with adjustable degrees of freedom and variable force according to claim 1, characterized in that: The first power source is used to output telescopic linear power. The variable force cutting mechanism also includes a first rotating joint. The driving shaft of the first power source is connected to the transmission seat through the first rotating joint.

3. The multi-axis machining tool with adjustable degrees of freedom and variable force according to claim 1, characterized in that: The second power source is used to output telescopic linear power. The variable force cutting mechanism also includes a second rotating joint. The driving shaft of the second power source is connected to the transmission seat through the second rotating joint.

4. The multi-axis machining tool with adjustable degree of freedom and variable force according to claim 1, characterized in that: The variable force cutting mechanism further comprises a first pressure sensor, a second pressure sensor and a controller, wherein the first pressure sensor and the second pressure sensor are electrically connected to the controller respectively; The first pressure sensor is disposed between the first power source and the first slider, and the second pressure sensor is disposed between the second power source and the first slider.

5. The multi-axis machining tool with adjustable degree of freedom and variable force according to claim 1, characterized in that: The variable force cutting mechanism also includes a visual sensor, which is installed on the tool mounting seat and is used to identify the state of the workpiece to be processed, so that the variable force cutting mechanism can adapt to adjust the inclination of the tool mounting seat relative to the workpiece fixture.

6. The multi-axis machining tool with adjustable degree of freedom and variable force according to claim 1, characterized in that: The workpiece fixture includes a support seat, a driving seat, a driving rotating assembly, a driving shaft and a fixture body. The machine base forms a processing chamber. The support seat and the driving seat are arranged in the processing chamber with a spacing relative to each other. The driving rotating assembly is installed on the driving seat. One end of the driving shaft is drivingly connected to the driving rotating assembly, and the other end is rotatably installed on the support seat. The fixture body is installed on the driving shaft. The fixture body can reciprocate in a vertical plane where the second direction is located under the drive of the driving shaft.

7. The multi-axis machining tool with adjustable freedom and variable force according to claim 6, characterized in that: The fixture body includes a rotary driver, a carrier plate, a power unit and at least two clamping blocks. The rotary driver is arranged between the drive shaft and the carrier plate. The power unit is installed on the upper surface of the carrier plate away from the drive shaft. The at least two clamping blocks are driven and connected to the power unit so that the at least two clamping blocks can be closed or moved away from each other.

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