Multi-machine and multi-process collaborative machining system for large-aspect-ratio complex components

Abstract

The application discloses a large-aspect-ratio complex component multi-machine multi-process collaborative machining system, which comprises a base, two base guide rails are arranged on the base, and the two base guide rails are suitable for mounting a component to be machined; a plurality of gantry machining devices are arranged at intervals along the length direction of the base, each gantry machining device comprises a gantry base and a parallel machining module, each gantry base is slidably arranged on the two base guide rails along the length direction of the base, a gantry guide rail is arranged on each gantry base and is oriented along the length direction of the gantry base, a sliding block is slidably arranged on the gantry guide rail, and the parallel machining module is connected with the sliding block. The large-aspect-ratio complex component multi-machine multi-process collaborative machining system can realize multi-stage simultaneous collaborative machining, and has the advantages of high machining efficiency and good machining flexibility.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and more specifically, to a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios. Background Technology

[0002] Complex components with large aspect ratios are key parts for aerospace equipment. These parts are characterized by large aspect ratios, complex machining surfaces, and complicated machining processes.

[0003] The processing of complex components with large aspect ratios in related technologies involves the use of large machine tools. Different processes need to be processed on different machine tools, which requires repeated clamping and disassembly, seriously affecting processing efficiency and making it difficult to guarantee processing consistency. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios. This multi-machine, multi-process collaborative machining system for complex components with large aspect ratios can perform multi-level simultaneous collaborative machining and has the advantages of high machining efficiency and good machining flexibility.

[0005] To achieve the above objectives, an embodiment of the present invention proposes a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios. The system includes: a base with two base guide rails, the two base guide rails being suitable for mounting the component to be processed; and multiple gantry machining devices, spaced apart along the length of the base. Each gantry machining device includes a gantry base and a parallel machining module. Each gantry base is slidably mounted across the two base guide rails along the length of the base. Each gantry base has a gantry guide rail oriented along the length of the gantry base, and a slider is slidably mounted on the gantry guide rail. The parallel machining module is connected to the slider.

[0006] The multi-machine, multi-process collaborative machining system for complex components with large aspect ratios according to embodiments of the present invention can perform multi-level simultaneous collaborative machining, and has the advantages of high machining efficiency and good machining flexibility.

[0007] In addition, the multi-machine, multi-process collaborative machining system for complex components with large aspect ratios according to the above embodiments of the present invention may also have the following additional technical features:

[0008] According to one embodiment of the present invention, there are two gantry guide rails disposed on the upper surface of the gantry base, and a clearance groove is provided between the two gantry guide rails, which penetrates the gantry base in the vertical direction and extends along the length direction of the gantry base. The parallel processing module is mounted across the two sliders and passes through the clearance groove.

[0009] According to one embodiment of the present invention, a gantry drive motor is provided on the gantry base, the gantry drive motor is connected to a helical gear, and a helical rack is provided on the base, the helical gear meshing with the helical rack.

[0010] According to one embodiment of the present invention, a parallel module drive motor is provided on the gantry base, the parallel module drive motor is connected to a screw, a nut is threaded onto the screw, and the nut is connected to the parallel processing module.

[0011] According to one embodiment of the present invention, a protective fence is provided around the outer edge of the base.

[0012] According to one embodiment of the present invention, the parallel machining module includes a fixed platform, a machining spindle, and multiple branches. The fixed platform is connected to the slider, and the multiple branches are arranged at circumferential intervals along the fixed platform. Each branch includes a hollow motor and a ball screw. The hollow motor is drivenly connected to the ball screw. The hollow motor is connected to the fixed platform through a first hinge, and one end of the ball screw is connected to the machining spindle through a second hinge.

[0013] According to one embodiment of the present invention, the parallel processing module is a three-degree-of-freedom parallel processing module, and the branch is three, wherein the three first hinges are all single-rotational joint hinges and the three second hinges are all double-rotational joint hinges, or the three first hinges are all double-rotational joint hinges and the three second hinges are all single-rotational joint hinges.

[0014] According to one embodiment of the present invention, the parallel processing module is a five-degree-of-freedom parallel processing module, the branch is five, the five first hinges are all double revolute hinges, four of the five second hinges are double revolute hinges and the remaining one is a single revolute hinge, the five first hinges are distributed in the same plane or three of the five first hinges are distributed in the same plane and the remaining two are distributed in another parallel plane.

[0015] According to one embodiment of the present invention, the parallel machining module is a six-degree-of-freedom parallel machining module, and there are six branches. The six first hinges and the six second hinges are all double revolute joint hinges. The six first hinges include three first upper hinges and three first lower hinges. The three first upper hinges all pass through a first upper imaginary circle, and the three first lower hinges all pass through a first lower imaginary circle. The first upper imaginary circle and the first lower imaginary circle are arranged parallel and spaced apart. The six second hinges include three second upper hinges and three second lower hinges. The three second upper hinges all pass through a second upper imaginary circle, and the three second lower hinges all pass through a second lower imaginary circle. The second upper imaginary circle and the second lower imaginary circle are arranged parallel and spaced apart.

[0016] According to one embodiment of the present invention, six first hinges are equally spaced in the circumferential direction of the fixed platform, and six second hinges are equally spaced in the circumferential direction of the machining spindle; or the imaginary lines connecting the three first upper hinges to the centers of the first upper imaginary circles correspond one-to-one with the projections of the imaginary lines connecting the three first lower hinges to the centers of the first lower imaginary circles in a plane perpendicular to the axial direction, and the three first upper hinges are equally spaced in the circumferential direction of the fixed platform, and the ... upper hinges to the centers of the first upper imaginary circles in a plane perpendicular to the axial direction, and the projections of the imaginary lines connecting the three first upper hinges to the centers of the first upper imaginary circles are equally spaced in the circumferential direction of the fixed platform, and the projections of the imaginary lines connecting the three first upper hinges to the centers of the first upper imaginary circles are equally spaced in the circumferential direction of the fixed platform, and the projections of the imaginary lines connecting the three first upper hinges to the centers of the first upper imaginary circles are equally spaced in the circumferential direction of the fixed platform, and the projections of the imaginary lines connecting the three first upper hinges to the centers of the first The lines are respectively aligned with the projections of the imaginary lines connecting the centers of the three first lower hinges and the first lower imaginary circles in a plane perpendicular to the axial direction. The three first upper hinges are equally spaced in the circumferential direction of the fixed platform. The imaginary lines connecting the centers of the three second upper hinges and the second upper imaginary circles are respectively aligned with the projections of the imaginary lines connecting the centers of the three second lower hinges and the second lower imaginary circles in a plane perpendicular to the axial direction. Two of the three second upper hinges are arranged opposite each other in the radial direction of the machining spindle, and the other second upper hinge is arranged in the normal direction of the imaginary lines connecting the two opposite second upper hinges.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 This is a schematic diagram of a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios according to an embodiment of the present invention.

[0020] Figure 2This is a schematic diagram of the gantry base of a gantry machining device for a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios, according to an embodiment of the present invention.

[0021] Figure 3 This is a partial structural schematic diagram of a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram of the parallel processing module of a multi-machine, multi-process collaborative processing system for complex components with large aspect ratios according to a specific embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the parallel processing module of a multi-machine, multi-process collaborative processing system for complex components with large aspect ratios according to another specific embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the parallel processing module of a multi-machine, multi-process collaborative processing system for complex components with large aspect ratios according to another specific embodiment of the present invention.

[0025] Reference numerals: Multi-machine, multi-process collaborative processing system for complex components with large aspect ratios 1, base 10, base guide rail 11, helical rack 12, protective fence 13, gantry processing device 20, gantry base 21, gantry guide rail 211, slider 212, clearance groove 213, gantry drive motor 214, helical gear 215, parallel module drive motor 216, screw 217, nut 218, parallel processing module 22, fixed platform 221, processing spindle 222, branch chain 223, hollow motor 2231, ball screw 2232, first hinge 224, first upper hinge 2241, first lower hinge 2242, second hinge 225, second upper hinge 2251, second lower hinge 2252, component to be processed 2. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] The following description, with reference to the accompanying drawings, describes a multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to an embodiment of the present invention.

[0030] like Figures 1-6 As shown, the multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to an embodiment of the present invention includes a base 10 and multiple gantry machining devices 20.

[0031] The base 10 is provided with two base guide rails 11, and the two base guide rails 11 are suitable for installing the component 2 to be processed.

[0032] Multiple gantry processing devices 20 are spaced apart along the length of the base 10. Each gantry processing device 20 includes a gantry base 21 and a parallel processing module 22. Each gantry base 21 is slidably mounted on two base guide rails 11 along the length of the base 10. Each gantry base 21 is provided with a gantry guide rail 211 oriented along the length of the gantry base 21. A slider 212 is slidably provided on the gantry guide rail 211. The parallel processing module 22 is connected to the slider 212.

[0033] Specifically, the position of the parallel processing module 22 in the length direction of the component 2 to be processed is adjusted by sliding the gantry processing device 20 on the base guide rail 11, and the position of the parallel processing module 22 in the width direction of the component 2 to be processed is adjusted by sliding the parallel processing module 22 on the gantry guide rail 211. The parallel processing module 22 is equipped with an execution unit, and the position and posture of the execution unit are adjusted by the parallel processing module 22 with multiple degrees of freedom.

[0034] After the component 2 to be processed is clamped, multiple gantry processing devices 20 can simultaneously and collaboratively process multiple features on the component 2 to be processed.

[0035] The parallel machining modules 22 of multiple gantry machining units 20 can be the same or different. The execution units mounted on the multiple parallel machining modules 22 can be the same or different. When the multiple parallel machining modules 22 and the execution units are the same, for example, the execution units are all milling cutters, the multi-machine multi-process collaborative machining system 1 for complex components with large aspect ratios can simultaneously process multiple features on the component to be processed 2, improving the overall machining efficiency. When the multiple parallel machining modules 22 and the execution units are different, for example, multiple execution units can be used to complete different processes, the multi-machine multi-process collaborative machining system 1 for complex components with large aspect ratios can simultaneously perform multi-process full-process machining on the component to be processed 2. The component to be processed 2 can be processed in multiple processes after one clamping, reducing the number of clamping and disassembly times, reducing clamping errors, and improving machining efficiency.

[0036] The execution unit can also be a detection probe to inspect the processed components.

[0037] The multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to an embodiment of the present invention, by setting up a base 10 and multiple gantry machining devices 20, compared with the processing method using large machine tools in related technologies, can simultaneously and collaboratively process multiple features to be processed on the component 2 to be processed by multiple gantry machining devices 20, thereby improving the processing efficiency of complex components with large aspect ratios, and reducing the number of clamping and disassembling of the component 2 to be processed, reducing the errors generated in the clamping and disassembly process, and improving the processing consistency. It should be understood here that, for the assembly line processing method in related technologies, although the assembly line processing method also sets up multiple processing devices, it moves the component to be processed sequentially to multiple processing devices, and cannot achieve multi-machine simultaneous collaborative processing.

[0038] Furthermore, the base 10 is equipped with two base guide rails 11, and the component to be processed 2 is installed between the two base guide rails 11. Each gantry machining device 20 includes a gantry base 21 and a parallel machining module 22. Each gantry base 21 can slide across the two base guide rails 11 along the length direction of the base 10. The position of the parallel machining module 22 in the length direction of the component to be processed 2 can be adjusted by sliding the gantry machining device 20 on the base guide rails 11. The position of the parallel machining module 22 in the width direction of the component to be processed 2 can be adjusted by sliding the parallel machining module 22 on the gantry guide rails 211. The parallel machining module 22 can perform multiple degrees of freedom of pose adjustment on the execution unit. Compared with the processing method of using large machine tools in related technologies, the advantages of the parallel machining module 22, such as lightweight and local high-efficiency and high-precision machining, can be brought into play, which greatly improves the processing flexibility and processing efficiency of large flat parts.

[0039] Therefore, the multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to the present invention can perform multi-level simultaneous collaborative machining, and has the advantages of high machining efficiency and good machining flexibility.

[0040] The following description, with reference to the accompanying drawings, describes a multi-machine, multi-process collaborative machining system for complex components with large aspect ratios according to a specific embodiment of the present invention.

[0041] In some specific embodiments of the present invention, such as Figures 1-6 As shown, the multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to an embodiment of the present invention includes a base 10 and multiple gantry machining devices 20.

[0042] Advantageously, such as Figure 1 and Figure 2 As shown, there are two gantry guide rails 211 located on the upper surface of the gantry base 21 (in the vertical direction as indicated by the arrows in the figure). A clearance groove 213 is provided between the two gantry guide rails 211, extending vertically through the gantry base 21 and along its length. The parallel processing module 22 is mounted across the two sliders 212 and passes through the clearance groove 213. This facilitates the sliding of the parallel processing module 22 along the length of the gantry base 21 and allows for easy adjustment of its position in the width direction of the component 2 to be processed.

[0043] Specifically, such as Figures 1-3As shown, a gantry drive motor 214 is mounted on the gantry base 21, and the gantry drive motor 214 is connected to a helical gear 215. A helical rack 12 is mounted on the base 10, and the helical gear 215 meshes with the helical rack 12. In this way, the gantry drive motor 214 can drive the helical gear 215 to rotate, and the meshing of the helical gear 215 with the helical rack 12 can drive the gantry base 21 to move on the base guide rail 11. Moreover, the helical gear method makes the operation smoother, the noise lower, the load-bearing capacity higher, the structure more compact, and the maintenance easier.

[0044] More specifically, such as Figures 2-3 As shown, a parallel module drive motor 216 is provided on the gantry base 21. The parallel module drive motor 216 is connected to a screw 217, and a nut 218 is threaded onto the screw 217. The nut 218 is connected to the parallel processing module 22. In this way, the parallel module drive motor 216 can drive the screw 217 to rotate. Through the cooperation between the screw 217 and the nut 218, the rotation of the screw 217 is converted into the movement of the nut 218 along the axial direction of the screw 217, thereby driving the parallel processing module 22 to move along the length direction of the gantry base 21.

[0045] More advantageously, such as Figure 1 As shown, a protective fence 13 is provided around the outer edge of the base 10. This not only prevents debris generated during processing from flying around randomly, but also prevents personnel from coming into contact with the equipment during processing.

[0046] Figures 4-6 A multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios is shown, according to some examples of the present invention. For example... Figures 4-6 As shown, the parallel machining module 22 includes a fixed platform 221, a machining spindle 222, and multiple branches 223. The fixed platform 221 is connected to the slider 212. The multiple branches 223 are spaced apart circumferentially along the fixed platform 221. Each branch 223 includes a hollow motor 2231 and a ball screw 2232. The hollow motor 2231 and the ball screw 2232 are connected by a drive. The hollow motor 2231 is connected to the fixed platform 221 through a first hinge 224, and one end of the ball screw 2232 is connected to the machining spindle 222 through a second hinge 225. Specifically, the hollow motor 2231 is provided with a threaded component, and the ball screw 2232 is threadedly engaged with the threaded component. The hollow motor 2231 drives the ball screw 2232 to rotate, and the ball screw 2232 converts the rotation into axial movement through the threaded engagement with the threaded component. This allows the machining spindle 222 to move relative to the fixed platform 221 with multiple degrees of freedom via multiple branches 223, improving the machining flexibility of the parallel machining module 22.

[0047] In some embodiments, such as Figure 4As shown, the parallel machining module 22 is a three-degree-of-freedom parallel machining module. There are three branches 223. All three first hinges 224 are single-revolute joint hinges, and all three second hinges 225 are double-revolute joint hinges, or all three first hinges 224 are double-revolute joint hinges, and all three second hinges 225 are single-revolute joint hinges. This allows the three branches 223 to drive the machining spindle 222 in all three degrees of freedom.

[0048] In other embodiments, such as Figure 5 As shown, the parallel machining module 22 is a five-degree-of-freedom parallel machining module. There are five branches 223, and all five first hinges 224 are double-revolute joint hinges. Four of the five second hinges 225 are double-revolute joint hinges, and the remaining second hinge 225 is a single-revolute joint hinge. The five first hinges 224 are distributed in the same plane, or three of the five first hinges 224 are distributed in the same plane, and the remaining two are distributed in another parallel plane. This allows the machining spindle 222 to move in five degrees of freedom using five branches 223, which improves driving flexibility compared to a three-branch configuration and facilitates adjustment of the hinge positions.

[0049] In other embodiments, such as Figure 6 As shown, the parallel processing module 22 is a six-degree-of-freedom parallel processing module. There are six branches 223. The six first hinges 224 and the six second hinges 225 are all double revolute joint hinges. The six first hinges 224 include three first upper hinges 2241 and three first lower hinges 2242. The three first upper hinges 2241 all pass through a first upper imaginary circle, and the three first lower hinges 2242 all pass through a first lower imaginary circle. The first upper imaginary circle and the first lower imaginary circle are arranged parallel and spaced apart. The six second hinges 225 include three second upper hinges 2251 and three second lower hinges 2252. The three second upper hinges 2251 all pass through a second upper imaginary circle, and the three second lower hinges 2252 all pass through a second lower imaginary circle. The second upper imaginary circle and the second lower imaginary circle are arranged parallel and spaced apart. This allows the machining spindle 222 to move in six degrees of freedom using six branches 223. Compared to a parallel structure with fewer branches, this not only further improves driving flexibility and facilitates adjustment of hinge positions, but also gives the parallel machining module 22 high rigidity and high load-bearing capacity.

[0050] Furthermore, by placing the three first upper hinges 2241 on the upper layer and the three first lower hinges 2242 on the lower layer, and placing the three second upper hinges 2251 on the upper layer and the three second lower hinges 2252 on the lower layer, the six first hinges 224 are arranged in two layers, and the six second hinges 225 are arranged in two layers, which can alleviate the problem of limited hinge and branch layout. It is also convenient to adjust the setting position of hinges and branches, so that the kinematic performance of the parallel processing module 22 can be greatly improved. This allows the hinge layout to be adjusted according to processing requirements to fully utilize kinematic performance, obtain a larger swing angle output capability, and facilitate the use of additional torsional degrees of freedom to avoid interference and singularities in real time, thereby further improving kinematic performance and expanding its own high-quality posture workspace.

[0051] In some embodiments, such as Figure 6 As shown, six first hinges 224 are equally spaced along the circumference of the fixed platform, and six second hinges 225 are equally spaced along the circumference of the machining spindle. In other words, adjacent first hinges 224 are spaced 60 degrees apart along the circumference, and adjacent second hinges 225 are spaced 60 degrees apart along the circumference. This improves the motion accuracy and flexibility of the machining spindle 222 and avoids interference and singularities.

[0052] In other embodiments, the imaginary lines connecting the three first upper hinges 2241 to the centers of the first upper imaginary circles correspond one-to-one with the projections of the imaginary lines connecting the three first lower hinges 2242 to the centers of the first lower imaginary circles in a plane perpendicular to the axial direction. The three first upper hinges 2241 are equally spaced around the circumference of the fixed platform 221, and the six second hinges 225 are equally spaced around the circumference of the machining spindle 222. In other words, adjacent first hinges 224 are spaced 120 degrees apart around the circumference, and adjacent second hinges 225 are spaced 60 degrees apart. This facilitates increasing the distance between adjacent branches around the circumference, improving the control performance of each branch, facilitating the control of multiple branches, and reducing control difficulty.

[0053] In other embodiments, the imaginary lines connecting the three first upper hinges 2241 to the centers of the first upper imaginary circles correspond one-to-one with the projections of the imaginary lines connecting the three first lower hinges 2242 to the centers of the first lower imaginary circles in a plane perpendicular to the axial direction. The three first upper hinges 2241 are equally spaced circumferentially on the fixed platform 221. The imaginary lines connecting the three second upper hinges 2251 to the centers of the second upper imaginary circles correspond one-to-one with the projections of the imaginary lines connecting the three second lower hinges 2252 to the centers of the second lower imaginary circles in a plane perpendicular to the axial direction. Two of the three second upper hinges 2251 are radially opposite each other on the machining spindle 222, and the other second upper hinge 2251 is located in the normal direction of the imaginary lines connecting the two opposite second upper hinges 2251. In other words, adjacent first hinges 2241 are spaced 120 degrees apart circumferentially. The circumferential spacing between two adjacent second hinges 225 is 90 degrees, 90 degrees, and 180 degrees, respectively. This can significantly improve the end-end swing capability of the machining spindle 222.

[0054] Other configurations and operations of the multi-machine, multi-process collaborative machining system 1 for complex components with large aspect ratios according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-machine multi-process collaborative machining system for large aspect ratio complex components, characterized in that, include: A base, wherein two base guide rails are provided on the base, and the two base guide rails are suitable for mounting the component to be processed; Multiple gantry machining units are spaced apart along the length of the base. Each gantry machining unit includes a gantry base and a parallel machining module. Each gantry base is slidably mounted across two base guide rails along the length of the base. Each gantry base has a gantry guide rail oriented along the length of the gantry base, and a slider is slidably mounted on the gantry guide rail. The parallel machining module is connected to the slider and includes a fixed platform, a machining spindle, and multiple branches. The fixed platform is connected to the slider. Multiple branches are spaced circumferentially along the fixed platform. Each branch includes a hollow motor and a ball screw. The hollow motor is connected to the ball screw via a drive mechanism. The hollow motor is connected to the fixed platform via a first hinge. One end of the ball screw is connected to the machining spindle via a second hinge. The parallel machining module is a six-degree-of-freedom parallel machining module. There are six branches. The six first hinges and the six second hinges are all double-revolute hinges. The six first hinges include three first upper hinges and three first lower hinges. All chains pass through a first upper imaginary circle, and all three first lower hinges pass through a first lower imaginary circle. The first upper and first lower imaginary circles are arranged parallel and spaced apart. The six second hinges include three second upper hinges and three second lower hinges. All three second upper hinges pass through a second upper imaginary circle, and all three second lower hinges pass through a second lower imaginary circle. The second upper and second lower imaginary circles are arranged parallel and spaced apart. The imaginary lines connecting the centers of the three first upper hinges and the first upper imaginary circle respectively connect to the centers of the three first lower hinges and the first lower imaginary circle. The projections of the imaginary lines connecting the centers of the circles in a plane perpendicular to the axial direction correspond one-to-one. The three first upper hinges are equally spaced around the fixed platform. The imaginary lines connecting the centers of the three second upper hinges and the second upper imaginary circles correspond one-to-one with the projections of the imaginary lines connecting the centers of the three second lower hinges and the second lower imaginary circles in a plane perpendicular to the axial direction. Two of the three second upper hinges are arranged opposite each other in the radial direction of the machining spindle, and the other second upper hinge is arranged in the normal direction of the imaginary lines connecting the opposite two second upper hinges.

2. The large aspect ratio complex component multi-machine multi-process collaborative machining system of claim 1, wherein, The gantry guide rails are two in number and are provided on the upper surface of the gantry base. A clearance groove is provided between the two gantry guide rails, which runs through the gantry base in the vertical direction and extends along the length of the gantry base. The parallel processing module is straddled on the two sliders and passes through the clearance groove.

3. The large aspect ratio complex component multi-machine multi-process collaborative machining system of claim 1, wherein, The gantry base is equipped with a gantry drive motor, which is connected to a helical gear. The base is equipped with a helical rack, and the helical gear meshes with the helical rack.

4. The large aspect ratio complex component multi-machine multi-process collaborative machining system of claim 1, wherein, The gantry base is equipped with a parallel module drive motor, which is connected to a screw. A nut is threaded onto the screw and connected to the parallel processing module.

5. The large aspect ratio complex component multi-machine multi-process collaborative machining system of claim 1, wherein, The base is surrounded by a protective fence.

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