A six-axis machining center

Abstract

The present invention discloses a six-axis machining center, comprising a tool sorting robot, a mobile tool magazine mechanism, and a sliding workbench mechanism. The tool sorting robot comprises a gripping module for picking up and placing tools, and a plurality of gripping claws mounted on the gripping module. The mobile tool magazine mechanism comprises a tool magazine door assembly, a tool magazine for placing tools, and a mobile tool holder assembly for transporting tools. The sliding workbench mechanism comprises a sliding platform and a tool setting instrument assembly that slides following the sliding platform. The six-axis machining module comprises a plurality of machining axis assemblies. The beneficial effect of the present invention is that efficient and automatic switching of tools is achieved through the coordinated operation of the tool sorting robot, the mobile tool magazine mechanism, the six-axis machining module, and the sliding workbench mechanism. The present invention has high machining efficiency and high machining quality, which not only saves labor costs, but also reduces the uncertainty caused by frequent manual tool replacement.

Description

Technical Field

[0001] The present invention relates to the field of numerical control processing equipment, in particular to a six-axis processing machine tool. Background Art

[0002] In modern CNC machine tool processing, tool changing is a key factor affecting production efficiency and processing quality. However, existing CNC machine tools often lack efficient tool changing systems. Tool changing operations rely on manual labor, which is time-consuming, labor-intensive, and ineffective. For example, the Chinese invention patent with publication number CN102101203B, entitled "Six-Axis Five-Linkage Spiral Bevel Gear Processing Machine Tool," includes a bed, a workpiece box, a column, a horizontal slide, and a tool box, with the movement of the processing axes controlled by multiple rotary axes. Although this invention offers good stability, high efficiency, and a small footprint, it lacks a sophisticated tool changing mechanism. When processing different curved surfaces or angular holes, the equipment requires manual tool changing, which is not only inefficient but also affects processing accuracy. Furthermore, in working conditions where multiple tools need to be frequently changed, the constant removal and replacement of tools significantly increases the complexity and uncertainty of the overall processing process. Furthermore, these processing machines can only process one product at a time, resulting in low production efficiency. Summary of the Invention

[0003] (1) Problems to be solved

[0004] The technical problem to be solved by the present invention is to provide a six-axis machining center in view of the current status of the existing technology.

[0005] (2) Technical solution

[0006] The present invention is achieved through the following technical solutions:

[0007] A six-axis machining center includes a tool sorting robot, a mobile tool magazine mechanism, a sliding table mechanism, and a six-axis machining module. The tool sorting robot includes a gripping module for picking up and placing tools, and multiple gripping claws mounted on the gripping module. The mobile tool magazine mechanism includes a tool magazine door assembly, a tool magazine for placing tools, and a mobile tool holder assembly for transporting tools. The sliding table mechanism includes a sliding platform and a tool setting instrument assembly that slides with the sliding platform. The six-axis machining module includes multiple machining axis assemblies.

[0008] Using this technical solution, when changing tools on the machining axis, the mobile tool holder assembly drives the movable tool holder to slide beneath the tool and then pick up the tool removed from the machining axis. The movable tool holder then moves beneath the tool sorting robot, which removes the tool and places it in the tool preparation tray. It then retrieves the new tool and transfers it to the movable tool holder. The mobile tool magazine mechanism then moves the new tool set to the machining axis's gripper. The six-axis machining module then moves downward, and the machining axis assembly lowers to place the tool to be replaced into the tool placement hole in the movable tool holder. The machining axis assembly then moves upward and left and right, then moves downward again to pick up the tool. After picking up the tool, it contacts the tool setter assembly and corrects any misalignment. During product processing, the sliding platform moves the product forward and backward, and the six-axis machining module adjusts its position by moving up and down and left and right, aligning with the product's forward and backward motion to produce geometric shapes such as holes, faces, arcs, slots, and corners.

[0009] Furthermore, the grabbing module includes a motor beam, which is mounted and connected to a motor 1 adapter plate; the motor 1 adapter plate is mounted with motor 1 and a first synchronous wheel-synchronous belt structure mounted in conjunction with motor 1. The first synchronous wheel-synchronous belt structure is connected and mounted with a first screw rod, which is used to drive the z-axis guide rail mounting base plate to move back and forth. The first screw rod is mounted in conjunction with a first screw nut fixed on the y-axis nut seat, and the y-axis nut seat is mounted and fixed on the y-axis slide. Transmission frames are provided at both ends of the motor beam, and the transmission frame and the y-axis slide are slidably connected via a y-axis guide rail-slider mechanism. An x-axis guide rail-slider mechanism is arranged horizontally on the y-axis slide, and the x-axis guide rail-slider mechanism is slidably connected to the x-axis slide. One end of the y-axis slide is connected to a motor 2 mounting plate, and motor 2 is mounted on the motor 2 mounting plate. Motor 2 is mounted in conjunction with a second screw rod and a second screw nut, and the second screw nut is mounted on the x-axis nut seat fixed on the z-axis guide rail mounting base plate. The x-axis slide is fixedly connected to the z-axis guide rail mounting base. The z-axis guide rail mounting base is equipped with a motor 3 adapter plate. This motor 3 adapter plate is mounted on motor 3 and a second synchronous pulley and synchronous belt structure that cooperates with motor 3. A vertically arranged z-axis guide rail-slider mechanism is mounted on the z-axis guide rail mounting base. The z-axis guide rail mounting base is slidably connected to the z-axis slide via the z-axis guide rail-slider mechanism. Motor 3 is mounted in conjunction with a third screw and a third screw nut. The third screw nut is mounted on a z-axis nut seat fixed to the z-axis slide. The third screw is used to drive the z-axis slide up and down. The z-axis slide is equipped with multiple gripping claws.

[0010] Furthermore, the gripping device of the gripping jaws includes a guide rod cylinder, and the guide rod of the guide rod cylinder is connected to the gripping jaw cylinder gasket. The guide rod side of the guide rod cylinder is connected and fixed with a fixed end seat, and a movable opening for the guide rod and the gripping jaw cylinder gasket to pass through is provided in the center of the fixed end seat. A tool handle positioning sleeve and an openable and closable bidirectional horizontal clamp are installed at the lower end of the fixed end seat. The bidirectional horizontal clamp is located on both sides of the gripping jaw cylinder gasket and is enclosed in the upper cavity of the tool handle positioning sleeve. The inner side surface of the bidirectional horizontal clamp is provided with a wedge-shaped cutout inclined surface, and a wedge-shaped movable slider is placed on the wedge-shaped cutout inclined surface. The wedge-shaped movable slider is connected to the gripping jaw cylinder gasket. The outer side of the bidirectional horizontal clamp is provided with a gripping jaw.

[0011] Furthermore, the tool magazine door assembly includes a tool magazine housing hingedly connected to a first edge of the retractable tool magazine door. A tool magazine door zipper bracket is mounted on the retractable tool magazine door. The tool magazine housing is connected to a tool magazine bottom cover. The tool magazine housing is provided with a rubber sealing strip. When the retractable tool magazine door is opened, it rotates about its axis, freeing the retractable tool magazine door from obstructing the hollow surface of the tool magazine housing.

[0012] Furthermore, the tool magazine includes a spare tool mounting plate, onto which a spare tool disc and a zipper spring bracket are mounted. The zipper spring bracket is equipped with a tension spring. One end of the tension spring is connected to the zipper spring bracket, and the other end is connected to the tool magazine door cable. The tool magazine door cable is connected to the tool magazine door zipper bracket via a zipper guide pulley. A cable locker is installed on the tool magazine door cable. The spare tool disc and the spare tool mounting plate are provided with tool placement holes.

[0013] Furthermore, the movable tool holder assembly includes a movable plate frame connected and fixed to the standby tool mounting plate, the movable plate frame is installed with a gear plate, a movable plate guide rail-slider structure is installed at the lower end of the movable plate frame, and the tool magazine movable plate is fixedly connected to the movable plate slider of the movable plate guide rail-slider structure.

[0014] Furthermore, the gear plate meshes with the drive motor-gear mechanism. This mechanism includes a first transmission gear, a second transmission gear, a third transmission gear meshing with the gear plate, a dynamic disc drive bearing seat fixedly connected to the tool magazine's dynamic disc, and a dynamic disc motor mounting plate. The dynamic disc motor is mounted on the dynamic disc motor mounting plate, and the second transmission gear is coupled to the dynamic disc bearing and drive shaft. The movable tool holder is provided with multiple tool placement holes.

[0015] Furthermore, the sliding platform is slidably connected to the forward and backward transfer module. A tool setting instrument assembly is mounted at one end of the sliding platform. The forward and backward transfer module is mounted on the platform base, which is equipped with two opposing support columns. The tool sorting robot and mobile tool magazine mechanism are fixedly connected to the support columns.

[0016] Furthermore, the six-axis machining module includes a module mounting frame, on which two vertically arranged transverse guide rails are mounted, and a movable slider is installed on the transverse guide rails. The movable slider is fixedly connected to the mounting hanger, and a first nut seat and a second nut seat are mounted on the side of the mounting hanger facing the transverse guide rail. A first nut is mounted on the first nut seat, and a second nut is mounted on the second nut seat. The first nut and the second nut are mounted and matched with an x-axis screw rod, one end of which is connected to the x-axis drive motor, and the other end is connected to the rear bearing and the locking nut. The x-axis drive motor is mounted on one side of the module mounting frame. A plurality of machining axis assemblies are mounted on the other side of the mounting hanger. Two upper and lower dustproof rails are arranged on both sides of the transverse guide rails, and an outer dustproof cover is arranged on the dustproof rails. An upper baffle is mounted on the top of the mounting hanger, and a lower sealing plate is mounted on the bottom. The machining axis assembly includes a lifting drive motor arranged at the upper end of the upper baffle, and the lifting drive motor is mounted and connected to the lifting screw rod. The lifting screw is fitted with a lifting bearing and a lifting bearing seat for supporting it. The lower cover plate is mounted with two opposing z-axis linear guides on either side of the lifting screw. These z-axis linear guides are mounted with a z-axis slider fixedly connected to the spindle mounting frame. The spindle mounting frame is fixedly connected to the z-axis slider, which in turn is fixedly connected to the upper and lower baffles. The lower baffle has a hollow through-hole. The machining axis assembly's machining axis device passes through the hollow through-hole and emerges from the underside of the spindle mounting frame. A probe mounting plate, mounted on the probe assembly, is located in front of the spindle mounting frame.

[0017] Furthermore, the six-axis machining center includes a housing and a CNC control center. The housing is mounted on a base. The housing is equipped with a front door, a signal light, and a tool changer. An electrical box and a water tank are located behind the housing. The CNC control center has built-in tool change control software.

[0018] (3) Beneficial effects

[0019] The present invention realizes efficient and automated switching of tools through the coordinated operation of a tool sorting robot, a mobile tool magazine mechanism, a six-axis machining module, and a sliding workbench mechanism. Compared with the traditional manual tool changing method, it can quickly and accurately replace multiple tools during the machining process, greatly improving the degree of automation and production efficiency of the machining equipment. The tool sorting robot can accurately select the required tools from the tool magazine through the PLC intelligent control system and transport them to the machining position, significantly reducing the complexity and error rate of manual operation. In addition, the mobile tool magazine mechanism is combined with a high-precision tool transport device, which makes the speed of tool placement and installation fast and reduces possible assembly errors. The tool magazine adopts a controllable design for the placement and retrieval of tools, making tool management simpler and more effective, and avoiding the misinstallation or improper installation of tools caused by manual operation.

[0020] The present invention has high processing efficiency and high processing quality, which not only saves labor costs, but also reduces the uncertainty caused by frequent manual replacement of tools, so that the machine tool can maintain an efficient and stable working state in continuous production, further improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 1 is a perspective view of the six-axis machining center according to the present invention;

[0023] Figure 2 is a perspective view (2) of the six-axis machining center of the present invention;

[0024] Figure 3 This is a three-dimensional diagram of the tool sorting robot in the six-axis machining center of the present invention (I);

[0025] Figure 4 This is a perspective view of the tool sorting robot in the six-axis machining center of the present invention (II);

[0026] Figure 5 It is a three-dimensional diagram of the gripping device of the six-axis machining center of the present invention;

[0027] Figure 6 It is a cross-sectional view of the gripping device of the six-axis machining center of the present invention;

[0028] Figure 7 1 is a perspective view of the movable tool magazine mechanism in the six-axis machining center of the present invention (I);

[0029] Figure 8 This is a three-dimensional diagram (2) of the movable tool magazine mechanism in the six-axis machining center of the present invention.

[0030] Figure 9 It is a front view of the six-axis machining module in the six-axis machining center of the present invention.

[0031] Figure 10 It is a rear view of the six-axis machining module in the six-axis machining center of the present invention.

[0032] Figure 11 It is a partial structural diagram of the six-axis machining module in the six-axis machining machine tool described in the present invention.

[0033] Figure 12 It is a stereoscopic view of the machining axis assembly in the six-axis machining center according to the present invention.

[0034] Figure 13It is an overall schematic diagram of the six-axis machining center of the present invention.

[0035] The reference numerals are as follows:

[0036] 1. Tool sorting robot; 2. Mobile tool magazine mechanism; 3. Sliding worktable mechanism; 4. Grabbing module; 5. Gripping claw device; 6. Tool magazine door assembly; 7. Tool magazine; 8. Mobile tool holder assembly; 9. Sliding platform; 10. Tool setting instrument assembly; 11. Six-axis machining module; 12. Machining axis assembly; 13. Housing; 14. CNC control center; 15. Base; 16. Front door; 17. Signal light; 18. Tool changer; 19. Electrical box; 20. Water tank; 401. Motor beam; 402. Motor 1 adapter plate; 403. Motor 1; 404. First synchronous wheel-synchronous belt structure; 405. First screw rod; 406 407, z-axis guide rail mounting base; 408, first screw nut; 409, y-axis slide; 412, transmission frame; 413, y-axis guide rail-slider mechanism; 414, x-axis guide rail-slider mechanism; 416, x-axis slide; 417, motor 2 mounting plate; 418, motor 2; 419, second screw; 420, second screw nut; 422, motor 3 adapter plate; 423, motor 3; 424, second synchronous pulley-synchronous belt structure; 425, z-axis guide rail-slider mechanism; 426, z-axis slide; 427, z-axis nut seat; 428, third screw; 429, third screw nut; 5 01. Guide rod cylinder; 502. Guide rod; 503. Gripper cylinder gasket; 504. Fixed end seat; 505. Movable opening; 506. Tool handle positioning sleeve; 507. Bidirectional horizontal clamp; 508. Upper cavity; 509. Wedge-shaped cutout bevel; 510. Wedge-shaped movable slider; 511. Grasping clamp; 601. Tool magazine box; 602. Opening and closing tool magazine door; 603. Tool magazine door zipper bracket; 604. Tool magazine bottom cover; 605. Rubber sealing strip; 701. Spare tool mounting plate; 702. Spare tool tray; 703. Zipper spring bracket; 704. Tension spring; 705. Tool magazine door pull wire; 706. Zipper guide wheel; 708. Wire locker; 709. Tool placement hole; 801. Moving disc frame; 802. Gear plate; 803. Moving disc guide rail-slider structure; 804. Movable tool holder frame; 805. Drive motor-gear mechanism; 806. First transmission gear; 807. Second transmission gear; 808. Third transmission gear; 809. Moving disc transmission bearing seat; 810. Moving disc motor mounting plate; 811. Moving disc motor; 812. Moving disc bearing; 813. Drive shaft; 814. Moving disc bearing; 815. Tool placement hole; 816. Tool magazine moving disc; 901. Forward and backward transfer module; 902. Platform base; 903. Support column.1001, module mounting frame; 1002, transverse guide rail; 1003, mover slider; 1004, mounting plate; 1005, first nut seat; 1006, first nut; 1007, second nut seat; 1008, second nut; 1009, x-axis screw; 1010, x-axis drive motor; 1011, rear bearing; 1012, locking nut; 1014, dustproof track; 1015, outer dust cover ; 1016. Upper baffle; 1017. Lower sealing plate; 1018. Lifting drive motor; 1019. Lifting screw; 1020. Lifting bearing; 1022. Lifting bearing seat; 1024. Z-axis linear guide; 1025. Spindle mounting frame; 1026. Z-axis slider; 1027. Upper baffle; 1028. Lower baffle; 1029. Hollow through hole; 1031. Probe mounting plate; 1032. Probe assembly. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] In the description of this application, it should be understood that the terms "thickness", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] See also Figures 1-13The present invention provides a technical solution: including a tool sorting robot (1), a mobile tool magazine mechanism (2), and a sliding workbench mechanism (3). The tool sorting robot (1) includes a grabbing module (4) for picking up and placing tools, and a plurality of gripping claw grabbing devices (5) installed on the grabbing module (4). The mobile tool magazine mechanism (2) includes a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a mobile tool holder assembly (8) for transporting tools. The sliding workbench mechanism includes a sliding platform (9) and a tool setting instrument assembly (10) that slides following the sliding platform (9). When the machining axis replaces the tool, the mobile tool holder assembly (8) drives the movable tool holder (804) to slide under the tool, and then receives the tool removed from the machining axis. Then, the movable tool holder (804) is driven to move to the bottom of the tool sorting robot (1), and the tool sorting robot (1) takes the tool and places it in the tool preparation disk (702), and takes out the new tool and transfers it to the movable tool holder (804). Under the action of the mobile tool magazine mechanism (2), this set of new tools is moved to the processing axis clamping position. Then the processing axis assembly (12) is driven to move upward, left, and right, and then moved downward again to grab the tool. After grabbing the tool, the tool is brought into contact with the tool setting instrument assembly (10) and the installation position offset is corrected. When processing the product, the sliding platform (9) drives the product to move forward and backward, and the six-axis processing module (11) adjusts the position by moving in the up and down, left and right directions, and cooperates with the forward and backward movement of the product to process geometric shapes such as holes, surfaces, arcs, grooves, and corners.

[0040] Preferably, the grabbing module (4) includes a motor beam (401), which is installed and connected with a motor adapter plate (402). The motor adapter plate (402) is installed with a motor (403) and a first synchronous wheel-synchronous belt structure (404) installed in conjunction with the motor (403). The first synchronous wheel-synchronous belt structure (404) is connected and installed with a first screw rod (405), and the first screw rod (405) is used to drive the z-axis guide rail mounting base (406) to move back and forth. The first screw rod (405) is installed in conjunction with a first screw rod nut (408) fixed on the y-axis nut seat (407), and the y-axis nut seat (407) is installed and fixed on the y-axis slide (409). A transmission frame (412) is provided at both ends of the motor beam (401), and the transmission frame (412) and the y-axis slide (409) are slidably connected through the y-axis guide rail-slider mechanism (413). An x-axis guide rail-slider mechanism (414) is arranged transversely on the y-axis slide plate (409), and the x-axis guide rail-slider mechanism (414) is slidably connected to the x-axis slide plate (416). One end of the y-axis slide plate (409) is connected to a motor 2 mounting plate (417), and a motor 2 (418) is mounted on the motor 2 mounting plate (417). The motor 2 (418) is mounted in conjunction with a second screw rod (419) and a second screw rod nut (420), and the second screw rod nut (420) is mounted on an x-axis nut seat fixed on the z-axis guide rail mounting base plate (406). The x-axis slide plate (416) is fixedly connected to the z-axis guide rail mounting base plate (406), and the z-axis guide rail mounting base plate (406) is mounted with a motor 3 adapter plate (422), and the motor 3 (423) and a second synchronous wheel-synchronous belt structure (424) mounted in conjunction with the motor 3 (423) are mounted on the motor 3 adapter plate (422). A vertically arranged z-axis guide rail-slider mechanism (425) is installed on the z-axis guide rail mounting base (406), and the z-axis guide rail mounting base (406) is slidably connected to the z-axis slide (426) through the z-axis guide rail-slider mechanism (425). Motor three (423) is installed in conjunction with a third screw rod (428) and a third screw rod nut (429). The third screw rod nut (429) is installed on a z-axis nut seat (427) fixed on the z-axis slide (426), and the third screw rod (428) is used to drive the z-axis slide (426) to move up and down. A plurality of clamping claws and grasping devices (5) are installed on the z-axis slide (426). In the first part of the tool placement action, the z-axis slide (426) descends and then returns to its original position, and the position of the tool below is sensed by the sensor between the clamping claws. After the y-axis slide (409) moves horizontally toward the movable tool holder (804), it drives the z-axis slide (426) to descend, and the clamping cylinder then clamps the tool to be replaced in the tool placement position. The z-axis slide (426) is then driven upward to make the bottom of the tool higher than the tool placement hole (709).Then, the y-axis slide (409) is driven by the first synchronous wheel-synchronous belt structure (404) and the first screw rod (405) to move toward the tool preparation disc (702) to above the tool placement hole (709), and the z-axis slide (426) is driven to slide down to place the tool to be replaced into the tool placement hole (709), and the clamping jaws are opened and moved upward a certain distance. Then, in the second part of the action, the x-axis slide (416) is driven to move horizontally on the x-axis guide rail-slider mechanism (414). At this time, the air clamping cylinder moves to another tool placement hole position (709). Then, the z-axis slide (426) is driven to move downward. The clamping claws of the clamping cylinder close and clamp the tool to be used. The first synchronous wheel-synchronous belt structure (404), the first screw rod (405), and the third screw rod (428) drive the z-axis slide (426) and the x-axis slide (416) to move, and the tool to be used is placed in the tool placement hole (709) of the movable tool holder (804). Finally, the driving motor-gear mechanism (805) moves the movable tool holder (804) loaded with the tool to be used to a preset position. From then on, all the actions of tool removal are completed. Six tools can be grabbed at the same time in one action, and the tool changing efficiency is high.

[0041] Preferably, the gripping device (5) comprises a guide rod cylinder (501), wherein the guide rod (502) of the guide rod cylinder (501) is connected to a gripping cylinder gasket (503). A fixed end seat (504) is fixedly connected to the guide rod side of the guide rod cylinder (501), and a movable opening (505) is provided in the center of the fixed end seat (504) for the guide rod (502) and the gripping cylinder gasket (503) to pass through. A tool handle positioning sleeve (506) and a bidirectional horizontal clamp (507) that can be opened and closed are installed at the lower end of the fixed end seat (504). The bidirectional horizontal clamp (507) is located on both sides of the gripping cylinder gasket (503) and is enclosed in the upper cavity (508) of the tool handle positioning sleeve (506). The inner side surface of the bidirectional horizontal clamp (507) is provided with a wedge-shaped cutout inclined surface (509), and a wedge-shaped movable slider (510) is arranged on the wedge-shaped cutout inclined surface. The wedge-shaped movable slider (510) is connected to the clamping claw cylinder gasket (503). A grabbing claw (511) is installed on the outside of the bidirectional horizontal clamp (507). When clamping a tool, the tool handle identification sensor first detects whether a tool is present below. After confirming that a tool is to be clamped, the guide rod cylinder (501) drives the guide rod (502) to move upward. The clamping claw cylinder gasket (503) then drives the wedge-shaped movable slider (510) to move upward to drive the bidirectional horizontal clamp (507) to open toward both sides of the grabbing claw (511), thereby opening the bidirectional horizontal clamp (507) and the grabbing claw (511). When the jaws of the tool clamp descend to be flush with the clamping portion on the upper part of the tool, the guide rod cylinder (501) drives the guide rod (502) to move downward, and the jaw cylinder gasket (503) then drives the wedge-shaped movable slider (510) to move downward, causing the bidirectional horizontal clamp (507) to move inward, so that the jaws fit into the clamping portion, thereby completing the action of the grasping jaw (511) to clamp the tool.

[0042] Preferably, the tool magazine door assembly (6) includes a tool magazine box body (601), and the tool magazine box body (601) is hinged to the first edge of the opening and closing tool magazine door (602). The opening and closing tool magazine door (602) is installed with a tool magazine door zipper bracket (603). The tool magazine box body (601) is connected to a tool magazine bottom sealing plate (604). The tool magazine box body (601) is provided with a rubber sealing strip (605). When the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs axial rotation movement, and the opening and closing tool magazine door (602) no longer blocks the hollow surface on one side of the tool magazine box body (601). Driven by the drive motor-gear mechanism (805), the movable tool holder moves forward and backward; at the same time, the tool magazine door pull wire (705) between the tool magazine door (602) and the movable tool holder changes from a tightened state to a relaxed state, and the opening and closing tool magazine door (602) opens, thereby continuing to transport the movable tool holder (804) out of the tool magazine box body (601) for an external mechanism to select a tool.

[0043] Preferably, the tool magazine (7) includes a spare knife mounting plate (701), on which a spare knife disc (702) and a zipper spring bracket (703) are mounted. The zipper spring bracket (703) is provided with a tension spring (704). One end of the tension spring (704) is connected to the zipper spring bracket (703), and the other end is connected to the tool magazine door pull wire (705). The tool magazine door pull wire (705) is connected to the tool magazine door zipper bracket (707) via a zipper guide wheel (706). A wire locker (708) is installed on the tool magazine door pull wire (705). The spare knife disc (708) and the spare knife mounting plate (701) are provided with a tool placement hole (709). When the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs an axial rotation movement, and the opening and closing tool magazine door (602) no longer blocks the hollow surface of one side of the tool magazine box body (601). During the machining process, the machining table and the tool magazine are generally separated to prevent metal chips from entering the tool magazine. By designing this opening and closing tool magazine door (602), chips can be blocked during machining and opened when transporting tools.

[0044] Preferably, the movable tool holder assembly (8) includes a movable disc frame (801) connected and fixed to the standby tool mounting plate (701), and the movable disc frame (801) is installed with a gear plate (802). A movable disc guide rail-slider structure (803) is installed at the lower end of the movable disc frame (801), and the tool magazine movable disc is fixedly connected to the movable disc slider of the movable disc guide rail-slider structure (803). The tool magazine movable disc is installed with the same number of movable tool handle frames (804) as the standby tool discs (702). In the closed door state, the tension spring (704) provides tension, and at this time the tool magazine door pull wire (705) is in a taut state to close the opening and closing tool magazine door (602). The tension state of the tension spring (704) changes with the movement of the tool magazine (7) and the movable tool holder assembly (8).

[0045] Preferably, the gear plate (802) is meshed with the drive motor-gear mechanism (805). The drive motor-gear mechanism (805) includes a first transmission gear (806), a second transmission gear (807), a third transmission gear (808) meshed with the gear plate (802), a dynamic disc transmission bearing seat (809) fixedly connected to the tool magazine dynamic disc (801), and a dynamic disc motor mounting plate (810). A dynamic disc motor (811) is mounted on the dynamic disc motor mounting plate (810), and the second transmission gear (807) is mounted with a dynamic disc bearing (812) and a transmission shaft (813). The movable tool handle frame (804) is provided with a plurality of tool placement holes (815). The gear plate (802) and the drive motor-gear mechanism (805) are used to drive the tool magazine dynamic disc to move toward the direction of opening and closing the tool magazine door and to allow the movable tool handle frame (804) to pass through the tool magazine box body (601).

[0046] Preferably, the sliding platform (9) is slidably connected to the front and rear transfer module (901). The tool setting instrument assembly (10) is installed at one end of the sliding platform (9). The front and rear transfer module (901) is installed on the platform base, and the platform base is provided with two support columns (903) placed opposite to each other. The tool sorting robot (1) and the mobile tool magazine mechanism (2) are fixedly connected to the support columns (903). When selecting a tool, the lower end of the tool contacts the tool setting instrument assembly (10) for tool setting, thereby improving the tool installation accuracy. The front and rear transfer module (901) is used to carry the workpiece to be processed.

[0047] Preferably, the six-axis machining module (11) includes a module mounting frame (1001), on which two vertically arranged transverse guide rails (1002) are mounted, and a movable slider (1003) is mounted on the transverse guide rail (1002). The movable slider (1003) is fixedly connected to a mounting plate (1004), and a first nut seat (1005) and a second nut seat (1007) are mounted on the side of the mounting plate (1004) facing the transverse guide rail (1002). A first nut (1006) is mounted on the first nut seat (1005), and a second nut (1008) is mounted on the second nut seat (1007). The first nut (1006) and the second nut (1008) are installed with an x-axis screw rod (1009), one end of which is connected to the x-axis drive motor (1010), and the other end is connected to the rear bearing (1011) and the locking nut (1012). The x-axis drive motor (1010) is installed on one side of the module mounting frame (1001). A plurality of processing axis assemblies (12) are installed on the other side of the mounting plate (1004). Two upper and lower dustproof tracks (1014) are provided on both sides of the transverse guide rail (1002), and an outer dustproof cover (1015) is provided on the dustproof track. An upper baffle (1016) is installed on the top of the mounting plate (1004), and a lower sealing plate (1017) is installed on the bottom. The processing axis assembly (1012) includes a lifting drive motor (1018) arranged at the upper end of the upper shield (1016), and the lifting drive motor (1018) is installed and connected with a lifting screw (1019). The lifting screw (1019) is installed with a lifting bearing (1020) and a lifting bearing seat (1022) for supporting the lifting bearing (1020). The lower sealing plate (1017) is installed with two oppositely placed z-axis linear guide rails (1024) located on both sides of the lifting screw (1019), and the z-axis linear guide rails (1024) are installed with a z-axis slider (1026) fixedly connected to the spindle mounting frame (1025). The spindle mounting frame (1025) is fixedly connected to the z-axis slider (1026), and the spindle mounting frame (1025) is fixedly connected to the upper baffle (1027) and the lower baffle (1028). The lower baffle (1028) is provided with a hollow through hole (1029). The processing axis device (1030) of the processing axis assembly (1012) passes through the hollow through hole (1029) and is exposed below the spindle mounting frame (1025). A probe mounting plate (1031) is provided in front of the spindle mounting frame (1025), and the probe mounting plate is installed with a probe assembly (1032). When the product is machined, the x-axis screw (1009) and the lifting screw (1019) respectively drive the module to move left and right and up and down. On the mounting plate (1004), multiple processing axis assemblies (12) are provided, and 6 stations can be processed simultaneously, with high production efficiency.This device has a simple structure and ingenious design. It is equipped with 6 parallel processing axes and matches two supporting nut structures for the X-axis lead screw, which not only greatly increases production efficiency but also improves the stability and service life of the device.

[0048] Preferably, the six-axis machining center further comprises a housing (13) and a CNC control center (14), wherein the housing (13) is mounted on a base (15). The housing (13) is equipped with a front door (16), a signal light (17), and a tool changer (18). An electrical box (19) and a water tank (20) are provided at the rear of the housing (13). The CNC control center (14) is equipped with tool control and replacement software. By using the tool control and replacement software, the desired tool can be flexibly selected and replaced.

[0049] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A six-axis machining center, characterized in that: include: A tool sorting robot (1), the tool sorting robot (1) comprising a gripping module (4) for picking up and placing tools, and a plurality of gripping claws (5) mounted on the gripping module (4); A mobile tool magazine mechanism (2), comprising a tool magazine door assembly (6), a tool magazine (7) for placing tools, and a mobile tool holder assembly (8) for transporting tools; A sliding workbench mechanism (3), the sliding workbench mechanism comprising a sliding platform (9) and a tool setting instrument component (10) that slides following the sliding platform (9); A six-axis machining module (11), comprising a plurality of machining axis assemblies (12); the six-axis machining module (11) is used for machining products; The tool magazine (7) includes a spare tool mounting plate (701); The movable tool holder assembly includes a movable disc frame (801) connected and fixed to the standby tool mounting plate (701), and the movable disc frame (801) is installed with a gear plate (802); a movable disc guide rail-slider structure (803) is installed at the lower end of the movable disc frame (801), and the movable disc frame (801) is fixedly connected to the movable disc slide of the movable disc guide rail-slider structure (803); the standby tool mounting plate (701) is installed with movable tool holder frames (804) of the same number as the standby tool discs (702); The gear plate (802) is meshed with the drive motor-gear mechanism (805); the drive motor-gear mechanism (805) comprises a first transmission gear (806), a second transmission gear (807), a third transmission gear (808) meshed with the gear plate (802), a movable disk transmission bearing seat (809) fixedly connected to the movable disk frame (801), and a movable disk motor mounting plate (810); a movable disk motor (811) is mounted on the movable disk motor mounting plate (810); the second transmission gear (807) is mounted with a movable disk bearing (812) and a transmission shaft (813); the movable tool holder frame (804) is provided with a plurality of tool placement holes (815).

2. The six-axis machining center according to claim 1, wherein: The grabbing module (4) includes a motor beam (401), the motor beam (401) is installed and connected with a motor adapter plate (402); the motor adapter plate (402) is installed with a motor (403) and a first synchronous wheel-synchronous belt structure (404) installed in conjunction with the motor (403); the first synchronous wheel-synchronous belt structure (404) is connected and installed with a first screw rod (405), the first screw rod (405) is used to drive the z-axis guide rail mounting base (406) to move forward and backward; the first screw rod (405) is installed in conjunction with a first screw rod nut (407) fixed on the y-axis nut seat (407) 408), the y-axis nut seat (407) is mounted and fixed on the y-axis slide (409); transmission frames (412) are provided at both ends of the motor beam (401), and the transmission frames (412) and the y-axis slide (409) are slidably connected via a y-axis guide rail-slider mechanism (413); an x-axis guide rail-slider mechanism (414) is arranged transversely on the y-axis slide (409), and the x-axis guide rail-slider mechanism (414) is slidably connected to the x-axis slide (416); one end of the y-axis slide (409) is connected to a second motor mounting plate (417), and a second motor ( 418); the motor 2 (418) is mounted in conjunction with the second screw (419) and the second screw nut (420); the second screw nut (420) is mounted on the x-axis nut seat fixed on the z-axis guide rail mounting base (406); the x-axis slide plate (416) is fixedly connected to the z-axis guide rail mounting base (406); the z-axis guide rail mounting base (406) is mounted with a motor 3 adapter plate (422); the motor 3 adapter plate (422) is mounted with a motor 3 (423) and a second synchronous wheel-synchronous belt structure (424) mounted in conjunction with the motor 3 (423); the z-axis guide rail mounting base A vertically arranged z-axis guide rail-slider mechanism (425) is installed on the plate (406), and the z-axis guide rail mounting base plate (406) is slidably connected to the z-axis slide (426) through the z-axis guide rail-slider mechanism (425); the motor three (423) is installed in conjunction with the third screw rod (428) and the third screw rod nut (429), and the third screw rod nut (429) is installed on the z-axis nut seat (427) fixed on the z-axis slide (426), and the third screw rod (428) is used to drive the z-axis slide (426) to move up and down; a plurality of clamping claw grasping devices (5) are installed on the z-axis slide (426).

3. The six-axis machining center according to claim 2, wherein: The clamping claw grasping device (5) comprises a guide rod cylinder (501), wherein the guide rod (502) of the guide rod cylinder (501) is connected to a clamping claw cylinder gasket (503); a fixed end seat (504) is fixedly connected to the guide rod side of the guide rod cylinder (501), and a movable opening (505) for the guide rod (502) and the clamping claw cylinder gasket (503) to pass through is provided in the center of the fixed end seat (504); a tool handle positioning sleeve (506) and an openable and closable two-way horizontal clamp (506) are installed at the lower end of the fixed end seat (504). 07); the bidirectional horizontal clamp (507) is located on both sides of the clamping jaw cylinder gasket (503) and is enclosed in the upper cavity (508) of the tool handle positioning sleeve (506); the inner side surface of the bidirectional horizontal clamp (507) is provided with a wedge-shaped cut slope (509), and a wedge-shaped surface movable slider (510) is arranged on the wedge-shaped cut slope; the wedge-shaped surface movable slider (510) is connected to the clamping jaw cylinder gasket (503); the outer side of the bidirectional horizontal clamp (507) is provided with a grabbing clamp (511).

4. The six-axis machining center according to claim 3, wherein: The tool magazine door assembly (6) comprises a tool magazine box body (601), the tool magazine box body (601) is hinged to a first edge of an opening and closing tool magazine door (602); the opening and closing tool magazine door (602) is equipped with a tool magazine door zipper bracket (603); the tool magazine box body (601) is connected to a tool magazine bottom sealing plate (604); the tool magazine box body (601) is provided with a rubber sealing strip (605); when the opening and closing tool magazine door (602) is opened, the opening and closing tool magazine door (602) performs axial rotational motion, and the opening and closing tool magazine door (602) no longer blocks the hollow surface of one side of the tool magazine box body (601).

5. The six-axis machining center according to claim 4, wherein: A knife standby disc (702) and a zipper spring bracket (703) are mounted on the knife standby mounting plate (701); the zipper spring bracket (703) is provided with a tension spring (704); one end of the tension spring (704) is connected to the zipper spring bracket (703), and the other end is connected to a tool magazine door pull wire (705); the tool magazine door pull wire (705) is connected to the tool magazine door zipper bracket (603) via a zipper guide wheel (706); a wire locker (708) is mounted on the tool magazine door pull wire (705); and a tool placement hole (709) is provided on the knife standby disc (702) and the knife standby mounting plate (701).

6. The six-axis machining center according to claim 5, wherein: The sliding platform (9) is slidably connected to the front and rear transfer module (901); the tool setting instrument assembly (10) is installed at one end of the sliding platform (9); the front and rear transfer module (901) is installed on the platform base, and the platform base is provided with two supporting columns (903) placed opposite to each other, and the tool sorting robot (1) and the mobile tool magazine mechanism (2) are fixedly connected to the supporting columns (903).

7. The six-axis machining center according to claim 6, wherein: The six-axis machining module (11) includes a module mounting frame (1001), on which two vertically arranged transverse guide rails (1002) are mounted, and a movable slider (1003) is mounted on the transverse guide rail (1002); the movable slider (1003) is fixedly connected to a mounting hanger (1004), and a first nut seat (1005) and a second nut seat (1007) are mounted on a side of the mounting hanger (1004) facing the transverse guide rail (1002). ; A first nut (1006) is installed on the first nut seat (1005), and a second nut (1008) is installed on the second nut seat (1007); the first nut (1006) and the second nut (1008) are installed with an x-axis screw rod (1009), one end of the x-axis screw rod (1009) is connected to the x-axis drive motor (1010), and the other end is connected to the rear bearing (1011) and the locking nut (1012); the x-axis drive motor ( 1010) is installed on one side of the module mounting frame (1001); a plurality of processing axis assemblies (12) are installed on the other side of the mounting plate (1004); two upper and lower dustproof tracks (1014) are provided on both sides of the transverse guide rail (1002), and an outer dustproof cover (1015) is provided on the dustproof track; an upper baffle (1016) is installed on the top of the mounting plate (1004), and a lower sealing plate (1017) is installed on the bottom; the processing axis assembly (12) includes A lifting drive motor (1018) is provided at the upper end of the upper shield (1016), and the lifting drive motor (1018) is connected to a lifting screw (1019); the lifting screw (1019) is provided with a lifting bearing (1020) and a lifting bearing seat (1022) for supporting the lifting bearing (1020); the lower sealing plate (1017) is provided with two z-axis linear guide rails (1024) located on both sides of the lifting screw (1019) and arranged opposite to each other. A z-axis slider (1026) fixedly connected to a spindle mounting frame (1025) is mounted on the z-axis linear guide rail (1024); the spindle mounting frame (1025) is fixedly connected to the z-axis slider (1026), and the spindle mounting frame (1025) is fixedly connected to an upper baffle (1027) and a lower baffle (1028); the lower baffle (1028) is provided with a hollow through hole (1029); the machining axis device (1030) of the machining axis assembly (12) passes through the hollow through hole (1029) and is exposed below the spindle mounting frame (1025); a probe mounting plate (1031) is provided in front of the spindle mounting frame (1025), and a probe assembly (1032) is mounted on the probe mounting plate.

8. The six-axis machining center according to claim 1, wherein: The machine also includes a housing (13) and a CNC control center (14), wherein the housing (13) is mounted on a base (15); the housing (13) is equipped with a front door (16), a signal light (17) and a tool changer (18); an electrical box (19) and a water tank (20) are provided at the rear of the housing (13); and the CNC control center (14) is equipped with tool control and change software.

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