A method for machining a workpiece using a linked vertical and horizontal hybrid machining machine tool

Abstract

The present invention relates to a method for machining workpieces using a linkage vertical-horizontal hybrid machining machine, which belongs to the technical field of numerically controlled machine tools and solves the technical problems in the prior art that the five-axis machining machine has only one main axis and can only be in a single horizontal or vertical motion form, resulting in low machining efficiency, incomplete machining parts, and insufficient final machining accuracy due to the need to reassemble and disassemble the workpiece multiple times before machining by multiple devices. The linkage vertical-horizontal hybrid machining machine used in the method of the present invention includes a bed frame, a rotary table and two groups of five-axis motion components; the bed frame includes a bed base, a plurality of columns and a plurality of beams connected to the upper ends of the columns; two beams located on opposite sides of the top of the columns constitute a first gantry bracket, and the columns corresponding to the other two beams constitute a second gantry bracket; the first gantry bracket and the second gantry bracket are arranged adjacent to each other; and the two groups of five-axis motion components are respectively arranged on the first gantry bracket and the second gantry bracket.

Description

Technical Field

[0001] The invention relates to the technical field of numerically controlled machine tools, and in particular to a method for machining a workpiece using a linked vertical and horizontal hybrid machining machine tool. Background Art

[0002] Five-axis linkage machining centers generally have five independent and linkage-controlled motion axes. The ends of the motion axes are equipped with high-speed spindles and worktables. By clamping the machining tool at the end of the spindle, it is possible to complete the machining of high-precision complex curved surface parts in three-dimensional space in one clamping process of the workpiece. It is a key basic equipment in the manufacturing industry. Traditional five-axis linkage machining centers are divided into two machining types: horizontal and vertical, according to the horizontal and vertical installation direction of the spindle relative to the workpiece. The single spindle orientation type limits the movement direction of the tool to a certain extent, so a single clamping can only process limited parts of the workpiece. In the aerospace, automobile and mold manufacturing industries, there are a large number of large-sized complex structural parts, such as integral blades, large engine casings, etc. These parts have complex structures and high requirements for part forming accuracy. It is difficult to complete the machining of all features on a single vertical five-axis machining center or a horizontal five-axis machining center. It is often necessary to complete all machining processes on multiple vertical and horizontal five-axis machining centers. The multiple processing processes of multiple devices involve multiple procedures. The time consumed by workpiece loading and unloading and spindle tool changing in each procedure will account for a large proportion of the entire processing cycle of the part, which greatly restricts the manufacturing efficiency of the part. Moreover, when the processing process involves re-clamping, it is difficult to ensure the consistency of the clamping position, which will inevitably lead to cumulative positioning errors, thereby reducing the processing accuracy of the workpiece. Therefore, how to provide a high-precision and high-efficiency composite machining center equipment to achieve high-quality and efficient manufacturing of high-precision and complex parts is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a method for processing workpieces using a linked vertical and horizontal hybrid machining machine, which solves the technical problems in the prior art that the five-axis machining machine has only one spindle and can only have a single horizontal or vertical motion form, resulting in low processing efficiency, incomplete processing areas, and insufficient final processing accuracy due to the need to reassemble and disassemble the workpiece multiple times before processing by multiple devices.

[0004] The invention discloses a method for machining a workpiece using a linkage vertical-horizontal hybrid machining machine tool, wherein the linkage vertical-horizontal hybrid machining machine tool comprises a bed frame, a rotary table and two groups of five-axis motion components;

[0005] The bed frame includes a bed base, a plurality of columns and a plurality of beams connected to the upper ends of the columns; two beams located on opposite sides of the tops of the columns constitute a first gantry bracket, and the columns corresponding to the other two beams constitute a second gantry bracket; the first gantry bracket and the second gantry bracket are arranged adjacent to each other; two sets of five-axis motion components are respectively arranged on the first gantry bracket and the second gantry bracket;

[0006] The two groups of five-axis motion components are respectively provided with a machining spindle and a machining tool; the machining spindle is connected with the machining tool;

[0007] The rotary table is arranged at the center of the bed base;

[0008] The rotating worktable is arranged parallel to the first gantry bracket;

[0009] The second gantry support is arranged perpendicular to the rotary worktable;

[0010] The first gantry bracket is provided with an X1 axis guide rail; the second gantry bracket is provided with a Z2 axis guide rail;

[0011] The rotating workbench is located in the middle of the four columns, the first group of five-axis motion components is arranged on the first gantry bracket, and the second group of five-axis motion components is arranged on the second gantry bracket;

[0012] The first five-axis motion assembly includes an X1-axis moving mechanism, a Y1-axis guide rail, a Y1-axis moving mechanism, a Z1-axis guide rail, a Z1-axis moving mechanism, a C1-axis rotating orthogonal swing head, an A1-axis rotating orthogonal swing head, a first machining spindle, and a first machining tool;

[0013] The second group of five-axis motion components includes a Z2-axis moving mechanism, a Y2-axis guide rail, a Y2-axis moving mechanism, an X2-axis guide rail, an X2-axis moving mechanism, an A2-axis rotating orthogonal swing head, a C2-axis rotating orthogonal swing head, a second machining spindle, and a second machining tool;

[0014] The specific steps of machining workpieces using a vertical and horizontal hybrid machining machine include:

[0015] Step 1: Obtain the workpiece CAD model;

[0016] Step 2: Formulate the processing strategy and process parameters for each process of the workpiece to be processed according to the CAM software; generate the processing tool location files of the position and posture of the two processing tools;

[0017] Step 3: Based on the structural characteristics of the linked vertical and horizontal hybrid machining machine tool relative to the workpiece to be machined, the machining instructions in the machining tool location file are analyzed for machining time estimation and motion interference check. Based on the analysis results, the machining spindle, machining order and machining time are allocated to each machining instruction according to the optimization matching rule, and exported as a CNC machining instruction program list; the machining is performed in sequence according to the CNC machining instruction program list until the machined workpiece is obtained;

[0018] The conversion of the machining tool location file in step 2 into the numerical control machining instruction program list in step 3 adopts the five-axis feed system transformation formula of the first group of five-axis motion components and the five-axis feed system transformation formula of the second group of five-axis motion components as follows:

[0019] Among them, the five-axis feed system transformation formula of the first group of five-axis motion components is:

[0020]

[0021] in, Indicates the moving position command value of the X1-axis moving mechanism; Indicates the moving position command value of the Y1-axis moving mechanism; Indicates the moving position command value of the Z1 axis moving mechanism; Indicates the moving position command value of the C1-axis rotating orthogonal swing head; Indicates the rotation position command value of the A1-axis orthogonal swing head; , and Represents the tool tip position coordinates of the first machining tool in the workpiece coordinate system; , and Represents the tool direction posture vector coordinates of the first machining tool in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; Indicates the length of the first machining tool; , and Indicates the distance between the end face center of the first machining spindle and the rotation center axis of the A1-axis rotating orthogonal swing head in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; , and Indicates the distance between the rotation center axis of the A1-axis rotating orthogonal swing head and the rotation center axis of the C1-axis rotating orthogonal swing head in the first group of five-axis motion components in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system;

[0022] The transformation formula of the five-axis feed system of the second set of five-axis motion components is:

[0023]

[0024] in, Indicates the moving position command value of the X2-axis moving mechanism; Indicates the command value of the Y2-axis moving mechanism; Indicates the moving position command value of the Z2 axis moving mechanism; Indicates the rotation position command value of the A2-axis orthogonal swing head; Indicates the rotation position command value of the C2-axis orthogonal swing head; , and Indicates the tool tip position coordinates of the second machining tool in the workpiece coordinate system; , and Represents the tool direction posture vector coordinates of the second machining tool in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; Indicates the length of the second machining tool; , and Indicates the distance between the end face center of the second machining spindle and the rotation center axis of the C2-axis rotation orthogonal swing head in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; , and It represents the distance between the rotation center axis of the C2-axis rotating orthogonal swing head and the rotation center axis of the A2-axis rotating orthogonal swing head in the second group of five-axis motion components in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system.

[0025] Optionally, it also includes a numerical control system box for controlling the linked vertical and horizontal hybrid processing machine tools to process the workpiece to be processed.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The vertical and horizontal hybrid machining machine provided by the present invention utilizes two sets of five-axis motion components to provide two machining spindles with motion along the three linear coordinate axes of X, Y and Z, as well as motion along the two rotational coordinate axes of C and A, thereby satisfying the synchronous machining of workpieces by the machining spindles on both sides of the machine tool.

[0028] (2) The bed frame of the vertical and horizontal hybrid machining center provided by the present invention adopts a fully enclosed symmetrical structure with high rigidity and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. The drawings are only used to illustrate specific embodiments and are not to be considered as limitations of the present invention.

[0030] Figure 1 It is a front view of the processing machine tool of the present invention;

[0031] Figure 2 A side view of a processing machine tool of the present invention;

[0032] Figure 3 A front view of the processing machine tool of the present invention from another angle;

[0033] Figure 4 A top view of a processing machine tool of the present invention;

[0034] Figure 5 A processing flow chart of the processing machine tool of the present invention;

[0035] Figure 6 It is a schematic diagram of the coordinate system kinematic chain of the processing machine tool of the present invention.

[0036] Reference numerals:

[0037] 1. Bed frame; 2. Rotating worktable; 3. Workpiece to be processed; 4. CNC system box; 5. First processing tool; 6. First processing spindle; 7. A1-axis rotating orthogonal swing head; 8. C1-axis rotating orthogonal swing head; 9. Z1-axis moving mechanism; 10. X1-axis moving mechanism; 11. Y1-axis moving mechanism; 12. Second processing tool; 13. Second processing spindle; 14. C2-axis rotating orthogonal swing head; 15. A2-axis rotating orthogonal swing head; 16. X2-axis moving mechanism; 17. Z2-axis moving mechanism; 18. Y2-axis moving mechanism. DETAILED DESCRIPTION

[0038] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0039] A specific design embodiment of the present invention is as follows Figure 1-Figure 6 , discloses a linkage vertical and horizontal hybrid machining machine tool, comprising a bed frame 1, a rotary table 2 and two sets of five-axis motion components;

[0040] Specifically, see Figure 1 The bed frame 1 includes a bed base, four columns and four beams connected to the upper ends of the columns, the columns and the beams form a cubic frame structure, the two beams located on the opposite sides of the top of the columns constitute the first gantry bracket, and the columns corresponding to the other two beams constitute the second gantry bracket; the first gantry bracket has a first through hole, and the second gantry bracket has a second through hole; the rotary table 2 is located in the middle of the four columns, the first group of five-axis motion components (vertical) is arranged on the first gantry bracket, and the second group of five-axis motion components (horizontal) is arranged on the second gantry bracket; the rotary table 2 is arranged parallel to the first gantry bracket; the second gantry bracket is arranged perpendicular to the rotary table 2; two X1-axis guide rails are symmetrically arranged on the two beams of the first gantry bracket; two Z2-axis guide rails are symmetrically arranged on the two columns on the plane of the second gantry bracket;

[0041] The rotary table 2 is arranged at the center of the bed base. When in use, the workpiece 3 to be processed is clamped on the rotary table 2 by a fixture;

[0042] The first set of five-axis motion components is arranged on the X1 axis guide rail; the second set of five-axis motion components is arranged on the Z2 axis guide rail;

[0043] The first five-axis motion assembly includes an X1-axis moving mechanism 10, a Y1-axis guide rail, a Y1-axis moving mechanism 11, a Z1-axis guide rail, a Z1-axis moving mechanism 9, a C1-axis rotating orthogonal swing head 8, an A1-axis rotating orthogonal swing head 7, a first machining spindle 6, and a first machining tool 5;

[0044] The two ends of the X1-axis moving mechanism 10 are respectively arranged on two sets of X1-axis guide rails on the same side through sliders, can slide on the X1-axis guide rails, and are driven by two sets of linear motors respectively;

[0045] A mounting hole is provided in the middle of the X1-axis moving mechanism 10, and a set of Y1-axis guide rails are respectively provided on two side walls of the mounting hole perpendicular to the horizontal plane of the X1-axis;

[0046] The two side surfaces of the Y1-axis moving mechanism 11 are respectively arranged on two sets of Y1-axis guide rails of the same mounting hole through sliders, and two sets of linear motors are used to drive the corresponding sliders to move respectively;

[0047] Four Z1-axis guide rails are arranged inside the Y1-axis moving mechanism 11 in a square layout. The Z1-axis moving mechanism 9 is arranged on the four Z1-axis guide rails through sliders, and the sliders are driven to move respectively by two sets of linear motors;

[0048] A C1-axis rotating orthogonal swing head 8 that rotates circumferentially around its axis is installed on the end flange of the Z1-axis moving mechanism 9, an A1-axis rotating orthogonal swing head 7 is installed on the connecting piece of the C1-axis rotating orthogonal swing head 8, and a first machining spindle 6 is installed on the A1-axis rotating orthogonal swing head 7;

[0049] The C1-axis rotating orthogonal swing head 8 rotates with the axis of the Z1-axis moving mechanism 9 as the rotation center; the A1-axis rotating orthogonal swing head 7 rotates circumferentially with the axis perpendicular to the axis of the Z1-axis moving mechanism 9 as the rotation axis;

[0050] A first machining tool 5 for machining the workpiece 3 to be machined is clamped at the end of the first machining spindle 6 .

[0051] The second five-axis motion assembly includes a Z2-axis moving mechanism 17, a Y2-axis guide rail, a Y2-axis moving mechanism 18, an X2-axis guide rail, an X2-axis moving mechanism 16, an A2-axis rotating orthogonal swing head 15, a C2-axis rotating orthogonal swing head 14, a second machining spindle 13, and a second machining tool 12;

[0052] The two ends of the Z2-axis moving mechanism 17 are respectively arranged on two sets of Z2-axis guide rails on the same side through sliders, slide on the Z2-axis guide rails, and use two sets of linear motors to drive the sliders to move respectively;

[0053] A mounting hole is provided in the middle of the Z2-axis moving mechanism 17, and a set of Y2-axis guide rails are respectively provided on two side walls perpendicular to the mounting hole and the Z2-axis guide rail;

[0054] The two side surfaces of the Y2-axis moving mechanism 18 are respectively arranged on two groups of Y2-axis guide rails of the same mounting hole through sliders, and two groups of upper and lower linear motors are used to realize the movement of the components.

[0055] The Y2-axis moving mechanism 18 is internally provided with four X2-axis guide rails in a square layout. The X2-axis moving mechanism 16 is slidably provided on the four X2-axis guide rails through a slider, and the movement of the components is realized through two sets of upper and lower linear motors.

[0056] An A2-axis rotating orthogonal swing head 15 that rotates circumferentially around its axis is installed on the end flange of the Z2-axis moving component, a C2-axis rotating orthogonal swing head 14 is installed on the end flange of the A2-axis rotating orthogonal swing head 15, and a second machining spindle 13 is installed on the C2-axis rotating orthogonal swing head 14;

[0057] The A2-axis rotating orthogonal swing head 15 rotates with the axis of the X2-axis moving mechanism 16 as the rotation center; the C2-axis rotating orthogonal swing head 14 rotates with the axis parallel to the Z2 axis perpendicular to a point on the axis of the X2-axis moving mechanism 16 as the rotation axis;

[0058] A second machining tool 12 for machining the workpiece 3 is clamped at the end of the second machining spindle 13 .

[0059] Furthermore, it also includes a CNC system box 4, which is arranged on the front column of the machine tool bed and is not on the same side as the horizontal five-axis feed system, and is electrically connected to the electrical cabinet of the machine tool. The CNC system box 4 is used to input and analyze the CNC program and control two groups of five-axis motion components, two groups of spindles and other accessories according to the program, so as to realize the synchronous milling processing of the workpiece 3 to be processed by the first processing tool 5 and the second processing tool 12 installed on the machine tool.

[0060] Preferably, the bed frame 1 is configured as a fully enclosed symmetrical structure with high rigidity and high stability. The five-axis motion components all adopt a gantry and box-in-box structure with good stability.

[0061] The numerical control system box 4 can perform five-axis linkage control on the two groups of five-axis motion devices respectively, so as to realize synchronous milling processing of the workpiece 3 to be processed in a vertical or horizontal manner. The first processing tool 5 and the second processing tool 12 can select processing tools of different sizes and types based on processing requirements, and combine the advantages of the two cutting orientation methods to realize high-efficiency processing.

[0062] On the other hand, the present invention discloses a method for machining a workpiece using a linkage vertical and horizontal hybrid machining machine tool, wherein the workpiece is machined using the linkage vertical and horizontal hybrid machining machine tool. Figure 5 As shown, the specific steps include:

[0063] Step 1: Obtain the workpiece CAD model;

[0064] Step 2: Formulate the processing strategy and process parameters for each process of workpiece processing according to the CAM software; generate the processing tool location files of the position and posture of the two processing tools;

[0065] Step 3: Based on the structural characteristics of the workpiece of the linked vertical and horizontal hybrid machining machine, the machining instructions in the machining tool location file are analyzed for machining time estimation and motion interference check. Based on the analysis results, the machining spindle, machining order and machining time are allocated to each machining instruction according to the optimization matching rules, and exported as a CNC machining instruction program list; the CNC machining instruction program list is input into the CNC system box 4 and the machining is performed in sequence until the processed workpiece is obtained.

[0066] Furthermore, the coordinate frame of the machining instructions of the machining spindle includes the machine coordinate system (MCS), the base coordinate system (BCS) and the workpiece coordinate system (WCS). The origin of the machine coordinate system is directly related to the encoder feedback of the drive motor of the machining spindle, and the origin of the base coordinate system is set at the starting point that is conducive to the operation of the machine tool. There is an origin parameter offset between the two. The origin of the workpiece coordinate system depends on the programmed machining origin set by the CAM, and there is a zero point parameter offset between it and the base coordinate system caused by the workpiece clamping process. Before CNC machining, the computer-aided manufacturing CAM software is first used to generate a set of machining tool position posture vectors in the workpiece coordinate system and a given position instruction for the machining spindle of the hybrid machining machine tool in the machine coordinate system.

[0067] It can be understood that the mechanical coordinate system is the coordinate system of each of the two five-axis motion components from the perspective of the machine tool, and its position value is the encoder value of the motor; the base coordinate system is a Cartesian right-hand coordinate system, and its origin is set at a position that conforms to the working logic of the machine tool, such as the center point of the spindle end face or the center point of the worktable; the coordinate direction is consistent with the positive direction of each linear axis of the machine tool; this coordinate system is designated as the unified coordinate system of the entire machine tool, through which the CNC system can easily perform calculations and send position instructions to each axis driver.

[0068] Further, see Figure 6 , the processing tool location file in step 2 is converted into the CNC processing instruction program list in step 3 using the five-axis feed system transformation formula of the five-axis RTCP algorithm;

[0069] Among them, the five-axis feed system transformation formula of the first group of five-axis motion components is:

[0070]

[0071] in, represents the moving position command value of the X1-axis moving mechanism 10; represents the moving position command value of the Y1-axis moving mechanism 11; Indicates the moving position command value of the Z1-axis moving mechanism 9; Indicates the moving position command value of the C1-axis rotating orthogonal swing head 8; Indicates the rotation position command value of the A1-axis rotating orthogonal swing head 7; , and represents the tool tip position coordinates of the first machining tool 5 in the workpiece coordinate system; , and represents the tool direction posture vector coordinates of the first machining tool 5 in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table 2 in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; represents the length of the first machining tool 5; , and Indicates the distance between the end face center of the first machining spindle 6 and the rotation center axis of the A1-axis rotation orthogonal swing head 7 in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system; , and Indicates the distance between the rotation center axis of the A1-axis rotating orthogonal swing head 7 and the rotation center axis of the C1-axis rotating orthogonal swing head 8 in the first group of five-axis motion components in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system;

[0072] The transformation formula of the five-axis feed system of the second set of five-axis motion components is:

[0073]

[0074] in, represents the moving position command value of the X2-axis moving mechanism 16; Indicates the command value of the Y2-axis moving mechanism 18; Indicates the moving position command value of the Z2-axis moving mechanism 17; Indicates the rotation position command value of the A2-axis orthogonal swing head; Indicates the rotation position command value of the C2-axis orthogonal swing head; , and represents the tool tip position coordinates of the second machining tool 12 in the workpiece coordinate system; , and represents the tool direction posture vector coordinates of the second machining tool 12 in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table 2 in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; represents the length of the second machining tool 12; , and Indicates the distance between the end face center of the second machining spindle 13 and the rotation center axis of the C2-axis rotation orthogonal swing head 14 in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system; , and It represents the distance between the rotation center axis of the C2-axis rotating orthogonal swing head 14 and the rotation center axis of the A2-axis rotating orthogonal swing head 15 in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system under the second group of five-axis motion components.

[0075] The present invention can realize dual-spindle milling of the workpiece to be processed. The workpiece 3 to be processed is fixed on the rotating table 2 by a clamp, the first processing spindle 6 is rotated orthogonally through the X1, Y1 and Z1 axis axial motion devices of the machine tool and the C1 and A1 axis rotation orthogonal swing heads, and the second processing spindle 13 is rotated orthogonally through the X2, Y2 and Z2 axis axial motion devices of the machine tool and the C2 and A2 axis rotation orthogonal swing heads, thereby realizing dual five-axis linkage vertical and horizontal mixed processing of the workpiece 3 to be processed. Through the program instruction processing flow and the geometric processing of the axis motion instructions described in the present invention, the CNC system box controls the CNC processing program to realize the dual five-axis linkage synchronous motion of the machine tool, thereby realizing the dual-spindle vertical and horizontal mixed milling of the workpiece 3 to be processed.

[0076] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for machining a workpiece using a linked vertical and horizontal hybrid machining machine, characterized in that: The linkage vertical and horizontal hybrid processing machine tool comprises a bed frame, a rotary table and two sets of five-axis motion components; The bed frame includes a bed base, a plurality of columns and a plurality of beams connected to the upper ends of the columns; two beams located on opposite sides of the tops of the columns constitute a first gantry bracket, and the columns corresponding to the other two beams constitute a second gantry bracket; the first gantry bracket and the second gantry bracket are arranged adjacent to each other; two sets of five-axis motion components are respectively arranged on the first gantry bracket and the second gantry bracket; The two groups of five-axis motion components are respectively provided with a machining spindle and a machining tool; the machining spindle is connected with the machining tool; The rotary table is arranged at the center of the bed base; The rotating worktable is arranged parallel to the first gantry bracket; The second gantry support is arranged perpendicular to the rotary worktable; The first gantry bracket is provided with an X1 axis guide rail; the second gantry bracket is provided with a Z2 axis guide rail; The rotating workbench is located in the middle of the four columns, the first group of five-axis motion components is arranged on the first gantry bracket, and the second group of five-axis motion components is arranged on the second gantry bracket; The first five-axis motion assembly includes an X1-axis moving mechanism, a Y1-axis guide rail, a Y1-axis moving mechanism, a Z1-axis guide rail, a Z1-axis moving mechanism, a C1-axis rotating orthogonal swing head, an A1-axis rotating orthogonal swing head, a first machining spindle, and a first machining tool; The second group of five-axis motion components includes a Z2-axis moving mechanism, a Y2-axis guide rail, a Y2-axis moving mechanism, an X2-axis guide rail, an X2-axis moving mechanism, an A2-axis rotating orthogonal swing head, a C2-axis rotating orthogonal swing head, a second machining spindle, and a second machining tool; The specific steps of machining workpieces using a vertical and horizontal hybrid machining machine include: Step 1: Obtain the workpiece CAD model; Step 2: Formulate the processing strategy and process parameters for each process of the workpiece to be processed according to the CAM software; generate the processing tool location files of the position and posture of the two processing tools; Step 3: Based on the structural characteristics of the linked vertical and horizontal hybrid machining machine tool relative to the workpiece to be machined, the machining instructions in the machining tool location file are analyzed for machining time estimation and motion interference check. Based on the analysis results, the machining spindle, machining order and machining time are allocated to each machining instruction according to the optimization matching rule, and exported as a CNC machining instruction program list; the machining is performed in sequence according to the CNC machining instruction program list until the machined workpiece is obtained; The conversion of the machining tool location file in step 2 into the numerical control machining instruction program list in step 3 adopts the five-axis feed system transformation formula of the first group of five-axis motion components and the five-axis feed system transformation formula of the second group of five-axis motion components as follows: Among them, the five-axis feed system transformation formula of the first group of five-axis motion components is: in, Indicates the moving position command value of the X1-axis moving mechanism; Indicates the moving position command value of the Y1-axis moving mechanism; Indicates the moving position command value of the Z1 axis moving mechanism; Indicates the moving position command value of the C1-axis rotating orthogonal swing head; Indicates the rotation position command value of the A1-axis orthogonal swing head; , and Represents the tool tip position coordinates of the first machining tool in the workpiece coordinate system; , and Represents the tool direction posture vector coordinates of the first machining tool in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; Indicates the length of the first machining tool; , and Indicates the distance between the end face center of the first machining spindle and the rotation center axis of the A1-axis rotating orthogonal swing head in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; , and Indicates the distance between the rotation center axis of the A1-axis rotating orthogonal swing head and the rotation center axis of the C1-axis rotating orthogonal swing head in the first group of five-axis motion components in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system; The transformation formula of the five-axis feed system of the second set of five-axis motion components is: in, Indicates the moving position command value of the X2-axis moving mechanism; Indicates the command value of the Y2-axis moving mechanism; Indicates the moving position command value of the Z2 axis moving mechanism; Indicates the rotation position command value of the A2-axis orthogonal swing head; Indicates the rotation position command value of the C2-axis orthogonal swing head; , and Indicates the tool tip position coordinates of the second machining tool in the workpiece coordinate system; , and Represents the tool direction posture vector coordinates of the second machining tool in the workpiece coordinate system; , and Indicates the position coordinates of the center of the rotary table in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; Indicates the length of the second machining tool; , and Indicates the distance between the end face center of the second machining spindle and the rotation center axis of the C2-axis rotation orthogonal swing head in the X-axis direction, Y-axis direction and Z-axis direction in the base coordinate system; , and It represents the distance between the rotation center axis of the C2-axis rotating orthogonal swing head and the rotation center axis of the A2-axis rotating orthogonal swing head in the second group of five-axis motion components in the X-axis direction, the Y-axis direction and the Z-axis direction in the base coordinate system.

2. The method for machining a workpiece using a linked vertical and horizontal hybrid machining machine according to claim 1, characterized in that: It also includes a numerical control system box for controlling the linked vertical and horizontal hybrid processing machine tools to process the workpiece to be processed.

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