Nine-axis five-linkage numerical control machine tool

Abstract

The invention discloses a nine-axis five-linkage numerical control machine tool, belongs to the technical field of machine tools, and aims to solve the problem that a rotating speed difference can be generated when a main shaft of a shaft part is replaced, so that an annular belt is introduced into a clamp for clamping, and through the arrangement of the annular belt, the shaft part can be flexibly clamped, and the rotating speed difference can be reduced. The rotating speed difference generated when the shaft parts are clamped and replaced can be made up, clamping and replacing can be conducted without shutdown or in a shaft clamping mode, and compared with an existing clamping mode, the problem of the rotating speed difference generated when clamping can be well buffered while the clamping precision can be improved; the corresponding second clamping jaw assembly for clamping the workpiece comprises a sliding stable clamping base and a movable transition clamping assembly arranged in the sliding stable clamping base, the structure is compact, and compared with an existing clamp, the rotating speed difference buffering function is added.

Description

Technical Field

[0001] The invention relates to the technical field of machine tools, in particular to a nine-axis five-linkage numerically controlled machine tool. Background Art

[0002] The nine-axis five-linkage CNC machine tool is a machine tool in which five of the nine axes can coordinate motion simultaneously. Since the machine tool has a large number of axes, the parts structure that can be processed at one time can be more complex, and it is a high-end machine tool. Existing nine-axis five-linkage CNC machine tools, such as Patent Document 1 (CN105171534A), combine a vertical machine tool and a horizontal machine tool to form a vertical and horizontal composite processing machine tool, and the horizontal processing head can achieve multiple angles of swing and the spindle is axially retractable. The worktable adopts a rotary worktable with a large working surface, which can meet the processing requirements of multi-faceted, multi-angle bevel milling, drilling, boring, etc., and can achieve one-time clamping and automatic tool change, and complete multi-faceted, multi-angle, multi-station milling, drilling, boring and other processing requirements. However, it cannot perform good clamping when processing shaft parts, and it is even more incapable of processing shaft parts. The shaft of the clamping part is further processed; for example, patent document 2 (CN112935870A) discloses a clamping system of a dual-spindle processing machine tool for shaft parts, which is provided with a clamping component for shaft parts. In order to be able to process both parts of the shaft, a dual-spindle clamping jaw is provided. After processing on one side of the shaft, the axial push rod pushes the shaft out, and the clamping jaw is released at the same time. An axial push rod is provided inside the other spindle clamping jaw. When the clamping clamping jaw needs to be replaced, the clamping jaw is loosened, and the axial push rod and the axial push rod jointly press the spindle, so that the spindle moves toward the other clamping jaw, and waits for the main When the rotation speed of the shaft is roughly the same as the rotation speed of the clamping jaws that need to be clamped, the clamping jaws are clamped, so that the speed difference between the second spindle and the first spindle will not cause the spindle motor to be forced to be damaged, and the speed difference between the second spindle and the first spindle will not cause the workpiece surface to be damaged by friction with the clamping jaws. Although the speed difference of the shaft parts is compensated when changing from clamping at one end to clamping at the other end through the joint action of the axial push rod and the axial push rod, the clamping jaws no longer clamp the shaft parts, and the shaft parts are still in a rotating state, the shaft parts will have radial deviation when changing the clamping jaws, thereby affecting Affects its subsequent processing accuracy; finally, as in patent document 3 (CN117817416A), it discloses a loading and unloading device for a machine tool. In order to facilitate the rapid and automatic loading and unloading of the shaft workpieces to be processed, an annular belt is arranged in the workpiece disk and surrounds the outer periphery of the movable wheel and the roller. The rotation of the annular belt drives the shaft workpiece to disengage or engage, thereby realizing the loading and unloading of the workpiece, and effectively solves the safety hazard to the operator caused by the clamping action of the clamp or the accidental rotation of the clamp. Although the annular belt is used for loading and unloading of shaft workpieces, it mainly plays a role of transportation and cannot clamp the workpiece.

[0003] In summary, for the nine-axis five-linkage CNC machine tools, there is no clamping device that can effectively clamp the shaft-like workpieces while ensuring the synchronization of the dual spindles and the clamping accuracy of the shaft-like parts when changing the axis. Even if an axial clamping rod with dual spindle synchronization is designed for this purpose, it does not clamp the shaft-like workpieces well in the radial direction, which inevitably causes jitter and the like during the process of changing and clamping, thereby causing the shaft-like workpieces to shift, and the position of the shaft-like parts after the clamping is changed is different from that before the clamping is changed, which needs to be adjusted again, increasing the workpiece processing steps. For this reason, the present application provides a nine-axis five-linkage CNC machine tool that can, when the shaft-like workpiece needs to replace the clamping device for processing, ensure the clamping accuracy of the shaft-like parts without the need for re-adjustment and positioning, and can ensure a smooth transition between the two spindles when the spindle is replaced. Summary of the invention

[0004] In order to overcome the shortcomings of the existing nine-axis five-linkage CNC machine tools, the present invention provides a technical solution, a nine-axis five-linkage CNC machine tool, which includes a machine base, a first clamping assembly, a second clamping assembly and a third machining tool assembly, the first clamping assembly and the second clamping assembly are movably arranged on the machine base, the first clamping assembly includes a first Y-direction slide rail seat, a first X-direction slide rail seat, a first Z-direction slide rail seat and a first A-direction rotation clamp assembly, the second clamping assembly includes a second V-direction slide rail seat, a second W-direction slide rail seat, a second U-direction slide rail seat and a second C-direction rotation clamp assembly, The third machining tool assembly includes a rotating tool seat, on which a machining tool is arranged, the first A-axis rotating clamp assembly and the second C-axis rotating clamp assembly both include a first rotating base and a second rotating clamp assembly, the second rotating clamp assembly is rotatably arranged on one side of the first rotating base, the second rotating clamp assembly includes a clamp body one and a plurality of clamp jaw assemblies two slidably arranged in the clamp body one, the clamp jaw assembly two includes a sliding stable clamp seat and a movable transition clamp assembly, the movable transition clamp assembly includes a second inner support assembly and an annular belt arranged around the outer side of the second inner support assembly, the second inner support assembly is slidably arranged in the sliding stable clamp seat, when the shaft workpiece to be machined is converted from being clamped by the first A-axis rotating clamp assembly to being clamped by the second C-axis rotating clamp assembly, or from being clamped by the second C-axis rotating clamp assembly to being clamped by the first A-axis rotating clamp assembly, the movable transition assembly of the first A-axis rotating clamp assembly or the second C-axis rotating clamp assembly that clamps one end of the shaft workpiece to be machined slides relative to the sliding stable clamp seat, and the movable transition clamp assembly replaces the sliding stable clamp seat to clamp one end of the shaft workpiece to be machined end, and then, the second C-axis rotating clamp assembly or the movable transition clamp assembly of the first A-axis rotating clamp assembly at the other end of the shaft workpiece to be processed clamps the other end of the shaft workpiece to be processed, and the rotation speed difference generated by the rotation of the first A-axis rotating clamp assembly or the second C-axis rotating clamp assembly during the conversion clamping is buffered by an annular belt arranged around the outside of the second inner support assembly. After the speeds of the two annular belts are consistent, the movable transition assembly at one end of the shaft workpiece to be processed retracts and exits the clamping, and then the sliding stable clamp seat at the other end of the shaft workpiece to be processed clamps the shaft workpiece to be processed.

[0005] Furthermore, the second inner support assembly includes an inner support frame, a top roller, a first left roller and a second right roller, the top roller is vertically slidably arranged at the upper end of the inner support frame, the first left roller is transversely slidably arranged at one side of the inner support frame, the second right roller is transversely slidably arranged at the other side of the inner support frame, and the annular belt is wound around the outer sides of the top roller, the first left roller and the second right roller.

[0006] Furthermore, the annular belt can switch between a first contracted state and a second expanded state. When the movable transition clamping assembly does not clamp the shaft workpiece to be processed, the annular belt is in the first contracted state and is accommodated on the inner side of the sliding and stable clamping seat. When the movable transition clamping assembly clamps the shaft workpiece to be processed, the annular belt is in the second expanded state and is exposed on the sliding and stable clamping seat.

[0007] Furthermore, the first left roller is provided with a first front arc plate and a first rear arc plate at both ends, the second right roller is provided with a second front arc plate and a second rear arc plate at both ends, and the top roller is provided with a first vertical plate and a second vertical plate at both ends. The telescopic position of the first left roller is adjusted by telescoping the first front arc plate and the first rear arc plate, the telescopic position of the second right roller is adjusted by telescoping the second front arc plate and the second rear arc plate, and the telescopic position of the top roller is adjusted by telescoping the first vertical plate and the second vertical plate.

[0008] Furthermore, the sliding and stabilizing clamping seat includes a sliding seat, a workpiece clamping block and a first accommodating groove, the workpiece clamping block and the first accommodating groove are both arranged on one side of the sliding seat, and the workpiece clamping block and the first accommodating groove are arranged up and down, an upper clamping plate is arranged on the top end side of the sliding seat, and a lower clamping plate is arranged on the bottom end side of the sliding seat, the upper clamping plate, the sliding seat and the lower clamping plate together form the first accommodating groove, and the workpiece clamping block is arranged at the upper end of the upper clamping plate.

[0009] Furthermore, the movable transition clamping assembly also includes a first movable outer frame arranged on the outside of the second inner support assembly, the first movable outer frame includes a connecting plate and a first side plate and a second side plate arranged on both sides of the connecting plate, a sixth slide groove is arranged on the inner side of the first side plate, and a fifth slide groove is arranged on the inner side of the second side plate, a first guide block and a second guide block are respectively arranged on the front and rear sides of the inner support frame, the first guide block is slidably arranged in the sixth slide groove, the second guide block is slidably arranged in the fifth slide groove, a sliding drive source is arranged in the fifth slide groove and / or the sixth slide groove, which can drive the second inner support assembly to slide relative to the sliding stabilizing clamp seat, and the first movable outer frame is arranged in the first accommodating groove.

[0010] Furthermore, the clamp seat body 1 includes a front plate, side walls and a rear plate seat, and an active inner groove for the action of the clamping jaw assembly 2 is formed in the space enclosed by the front plate, the side walls and the rear plate seat, a front through hole is opened in the middle of the front plate, and a rear through hole is opened in the middle of the rear plate seat, and the active inner groove includes an inner circular hole, a first slide groove, a second slide groove, a third slide groove and a fourth slide groove, and the first slide groove, the second slide groove, the third slide groove and the fourth slide groove extend and pass through the front plate, and the clamping jaw assembly 2 is slidably arranged in the first slide groove, the second slide groove, the third slide groove and the fourth slide groove, and a sliding drive source capable of driving the clamping jaw assembly 2 to slide is arranged in the first slide groove, the second slide groove, the third slide groove and the fourth slide groove.

[0011] Furthermore, the inner support frame also includes a first arc-shaped hole, a second arc-shaped hole, a first vertical plate slide groove and a second vertical plate slide groove, the first front arc plate and the second front arc plate are inserted into the first arc-shaped hole, the first rear arc plate and the second rear arc plate are inserted into the second arc-shaped hole, the first vertical plate is inserted into the first vertical plate slide groove, and the second vertical plate is inserted into the second vertical plate slide groove.

[0012] Furthermore, the first left roller and / or the second right roller and / or the top roller are all provided with a driving motor and / or a braking structure.

[0013] Furthermore, a through hole six is ​​provided at the connecting plate of the first movable outer frame, a first arc guide block is provided on the outer side of the first side plate, and a second arc guide block is provided on the outer side of the second side plate, a first upper guide groove is provided at the lower end of the upper clamping plate, and a second lower guide groove is provided at the upper end of the lower clamping plate, the first arc guide block is embedded in the first upper guide groove, and the second arc guide block is embedded in the second lower guide groove, and a driving wheel is provided on the first arc guide block and / or the second arc guide block, and the driving wheel contacts the first upper guide groove and the second lower guide groove to realize the rotation of the first movable outer frame relative to the sliding and stable clamping seat, a front plate groove is provided on the inner side of the front plate, and a rear plate groove is provided on the inner side of the rear plate seat, the front plate groove and the first upper guide groove can be connected to each other, and the rear plate groove and the second lower guide groove can be connected to each other.

[0014] The beneficial effects of the present invention are:

[0015] 1) The nine-axis five-linkage CNC machine tool of the present invention aims at the problem of speed difference when the main shaft of shaft parts is replaced, so that an annular belt is introduced into the fixture for clamping. Through the setting of the annular belt, in addition to being able to flexibly clamp the shaft workpiece, it can also make up for the speed difference generated when the shaft parts are clamped and replaced, and can be clamped and replaced without stopping the machine or using the shaft clamping method. Compared with the existing clamping method, it can improve the clamping accuracy and also well buffer the speed difference generated during clamping;

[0016] 2) Furthermore, the second clamping jaw assembly for clamping the workpiece includes a sliding stable clamping seat and a movable transition clamping assembly arranged therein. When clamping shaft parts in normal conditions, the clamping can be completed only by sliding the stable clamping seat. When the spindle needs to be replaced and clamped, the movable transition clamping assembly will be activated. Moreover, since it is arranged on the inner side of the sliding stable clamping seat, in addition to the clamping function of the clamp, there is no additional installation space for the clamp setting. The structure is compact, and compared with the existing clamp, the function of buffering the speed difference is added.

[0017] 3) Further, the movable transition clamping assembly includes a top roller, a first left roller and a second right roller, and an annular belt is arranged around the outside of the top roller, the first left roller and the second right roller, and the outer shape of the annular belt is changed by the movement of the top roller, the first left roller and the second right roller, so that the annular belt can be freely switched between the two forms of an isosceles triangle and a flat annular belt. The shape of the flat annular belt can better adapt to the outside of the shaft parts, so that the clamping accuracy of the shaft parts can be better improved, and the isosceles triangle shape can better hide the sliding transition clamping assembly, making the structure more compact;

[0018] 4) Finally, in order to enable the fixture to not only provide good buffering for the processed shaft parts during the spindle clamping and replacement, but also to cooperate with the sliding and stable clamping seat for positioning at the beginning of positioning, so that the movable transition clamping assembly can slide out of the sliding and stable clamping seat, and when the sliding and stable clamping seat is also pulled out, the movable transition clamping assembly and the sliding and stable clamping seat jointly realize the positioning of the processed shaft parts, thereby realizing the increase of double positioning points, such as changing the original four positioning points to eight positioning points, thereby further reducing the shaft parts due to the outer circle The error problem caused by the error in clamping due to the error in degree can be more accurate than the previous positioning. In addition, in order to enable the movable transition clamping assembly to return to the inner side of the sliding and stable clamping seat after positioning, the front plate groove and the rear plate groove of the adjacent first slide groove, the second slide groove, the third slide groove and the fourth slide groove are arranged with movable slide grooves that can change their positions. The movable slide groove can slide away from or close to the center direction of the annular groove one or the annular groove two, so that the second inner support assembly that has been clamped for processing can return to the first accommodating groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the nine-axis five-linkage CNC machine tool of the present invention;

[0020] Figure 2 A top view of the first A-direction rotating clamp assembly or the second C-direction rotating clamp assembly of the present invention;

[0021] Figure 3A perspective view of the first A-direction rotating clamp assembly or the second C-direction rotating clamp assembly of the present invention and Figure 2 A magnified view of B;

[0022] Figure 4 It is a schematic structural diagram of the first A-axis rotating clamp assembly or the second C-axis rotating clamp assembly of the present invention when clamping a workpiece;

[0023] Figure 5 It is a three-dimensional diagram of the second structure of the clamping jaw assembly of the present invention;

[0024] Figure 6 It is an exploded view of the second gripper assembly;

[0025] Figure 7 This is a schematic diagram of the structure of a sliding and stable clamping seat;

[0026] Figure 8 is a schematic diagram of the first activity frame structure;

[0027] Fig. 9 is a schematic diagram of the structure of the second inner support assembly;

[0028] Fig.10 Schematic diagram of the inner support frame structure;

[0029] Fig.11 It is a structural schematic diagram of the clamp seat body;

[0030] Fig.12 It is another form of the first A-axis rotating clamp assembly or the second C-axis rotating clamp assembly when the axis is changed and clamped;

[0031] Fig.13 It is another form of the clamping jaw assembly when the second axis is clamped;

[0032] Fig.14 This is an exploded view of another form of the clamping jaw assembly when the second shaft is clamped;

[0033] Fig.15 It is a structural schematic diagram of the first A-axis rotating clamp assembly or the second C-axis rotating clamp assembly when the clamping jaw assembly 2 is in an action state;

[0034] Fig.16 for Fig.15 A magnified view of K;

[0035] Fig.17 For the second embodiment Fig.11 GG cross-sectional view.

[0036] Description of symbols

[0037] 1. Machine base; 2. First clamping assembly; 3. Second clamping assembly; 4. Third machining tool assembly; 5. First Y-axis slide rail seat; 6. First X-axis slide rail seat; 7. First Z-axis slide rail seat; 8. First A-axis rotating fixture assembly; 9. Machining tool; 10. Second V-axis slide rail seat; 11. Second W-axis slide rail seat; 12. Second U-axis slide rail seat; 13. Second C-axis rotating fixture assembly; 14. First rotating base; 15. Second rotating clamp seat assembly; 16. Clamp seat Body 1; 17, clamping jaw assembly 2; 18, sliding stable clamping seat; 19, movable transition clamping assembly; 20, first movable outer frame; 21, second inner support assembly; 22, annular belt; 23, sliding seat; 24, workpiece clamping block; 25, first accommodating groove; 26, upper clamping plate; 27, lower clamping plate; 28, first side plate; 29, second side plate; 30, connecting plate; 31, through hole; 32, inner support frame; 33, top roller; 34, first left roller; 35, second right roller; 36, first vertical plate; 37, second vertical plate; 38, first front arc plate; 39, first rear arc plate; 40, second front arc plate; 41, second rear arc plate; 42, top wheel receiving hole; 43, first arc hole; 44, second arc hole; 45, first vertical plate slide; 46, second vertical plate slide; 47, first straight line segment; 48, second arc segment; 49, side wall; 50, rear through hole; 51, front through hole; 52, front plate; 53, movable inner groove; 54, first slide; 5 5. Second slide groove; 56. Third slide groove; 57. Fourth slide groove; 58. First guide block; 59. Second guide block; 60. Fifth slide groove; 61. Sixth slide groove; 62. First arc guide block; 63. Second arc guide block; 64. First upper guide groove; 65. Second lower guide groove; 66. Front plate groove; 67. Rear plate groove; 68. Rear plate seat; 69. Third vertical slide seat; 70. Rotating shaft; 71. Rotating tool seat; 72. Tool holder; 73. Top shaft; 74. Inner circular hole. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the embodiments, but the present invention is not limited in any way. Any changes or substitutions made based on the teachings of the present invention belong to the protection scope of the present invention.

[0039] Example 1

[0040] A nine-axis five-link CNC machine tool, such as Figure 1-16As shown, it includes a machine base 1, a first clamping assembly 2, a second clamping assembly 3 and a third machining tool assembly 4, the first clamping assembly 2 and the second clamping assembly 3 are movably arranged on the machine base 1, the first clamping assembly 2 includes a first Y-direction slide rail seat 5, a first X-direction slide rail seat 6, a first Z-direction slide rail seat 7 and a first A-direction rotating fixture assembly 8, the second clamping assembly 3 includes a second V-direction slide rail seat 10, a second W-direction slide rail seat 11, a second U-direction slide rail seat 12 and a second C-direction rotating fixture assembly 13, the third machining tool assembly 4 includes a rotating tool seat 71, on which a machining tool 9 is arranged, the first A-direction rotating fixture assembly 8 and the second C The structure of the rotating clamp assembly 13 is the same, both of which include a first rotating base 14 and a second rotating clamp assembly 15, the second rotating clamp assembly 15 is rotatably arranged on one side of the first rotating base 14, the second rotating clamp assembly 15 includes a clamp body 16 and a plurality of clamping jaw assemblies 17 slidably arranged in the clamp body 16, the clamping jaw assembly 17 includes a sliding stable clamping seat 18 and a movable transition clamping assembly 19, the movable transition clamping assembly 19 includes a second inner support assembly 21 and an annular belt 22 arranged around the outer side of the second inner support assembly 21, the second inner support assembly 21 is slidably arranged in the sliding stable clamping seat 18, and the shaft to be processed is processed. When the workpiece is converted from being clamped by the first A-axis rotating clamp assembly 8 to being clamped by the second C-axis rotating clamp assembly 13, or when the workpiece is converted from being clamped by the second C-axis rotating clamp assembly 13 to being clamped by the first A-axis rotating clamp assembly 8, the movable transition assembly 19 of the first A-axis rotating clamp assembly 8 or the second C-axis rotating clamp assembly 13 that clamps one end of the shaft workpiece to be processed slides relative to the sliding stable clamp seat 18, and the movable transition clamping assembly 19 replaces the sliding stable clamp seat 18 to clamp one end of the shaft workpiece to be processed, and then the second C-axis rotating clamp assembly 13 or the movable transition clamping assembly 19 of the first A-axis rotating clamp assembly 8 at the other end of the shaft workpiece to be processed clamps the shaft to be processed At the other end of the workpiece, an annular belt 22 arranged around the outside of the second inner support component 21 buffers the rotation speed difference when the first A-axis rotating clamp component 8 or the second C-axis rotating clamp component 13 switches to clamping. After the speeds of the two annular belts 22 are consistent, the movable transition component 19 of the one end of the shaft workpiece to be processed retracts and exits the clamping, and then the sliding stable clamp seat 18 of the other end of the shaft workpiece to be processed clamps the shaft workpiece to be processed, completing the conversion of the shaft workpiece to be processed from being clamped by the first A-axis rotating clamp component 8 to being clamped by the second C-axis rotating clamp component 13, or from being clamped by the second C-axis rotating clamp component 13 to being clamped by the first A-axis rotating clamp component 8.

[0041] The second inner support assembly 21 includes an inner support frame 32, a top roller 33, a first left roller 34 and a second right roller 35. The top roller 33 is vertically slidably arranged at the upper end of the inner support frame 32, the first left roller 34 is transversely slidably arranged at one side of the inner support frame 32, and the second right roller 35 is transversely slidably arranged at the other side of the inner support frame 32. The annular belt 22 is wound around the outer sides of the top roller 33, the first left roller 34 and the second right roller 35.

[0042] The endless belt 22 can be Figure 6 The first contracted state of the isosceles triangle shown in FIG. Fig.14 The movable transition clamping assembly 19 can switch between the second expanded state in the shape of a flat circular arc. When the movable transition clamping assembly 19 does not clamp the shaft workpiece to be processed, the annular belt 22 is in the first contracted state and is accommodated on the inner side of the sliding and stable clamping seat 18. When the movable transition clamping assembly 19 clamps the shaft workpiece to be processed, the annular belt 22 is in the second expanded state and is exposed to the sliding and stable clamping seat 18. Such an arrangement can ensure that the movable transition clamping assembly 19 does not occupy space when not in use, and can clamp the shaft workpiece to be processed through the expanded annular belt during the clamping action. In addition, the workpiece can be clamped more firmly through three-point clamping of the top roller 33, the first left roller 34 and the second right roller 35.

[0043] like Fig. 9 As shown, the two ends of the first left roller 34 are respectively provided with a first front arc plate 38 and a first rear arc plate 39, the two ends of the second right roller are respectively provided with a second front arc plate 40 and a second rear arc plate 41, and the two ends of the top roller 33 are respectively provided with a first vertical plate 36 and a second vertical plate 37. The telescopic position adjustment of the first left roller 34 is achieved by telescoping the first front arc plate 38 and the first rear arc plate 39, the telescopic position adjustment of the second right roller 35 is achieved by telescoping the second front arc plate 40 and the second rear arc plate 41, and the telescopic position adjustment of the top roller 33 is achieved by telescoping the first vertical plate 36 and the second vertical plate 37. Specifically, the telescoping of the first front arc plate 38, the first rear arc plate 39, the second front arc plate 40, the second rear arc plate 41, the first vertical plate 36 and the second vertical plate 37 can be achieved by setting a structure of several telescopic plates, and the specific telescopic driving source can be set as a telescopic cylinder structure, etc. This is common knowledge in the art and is not the focus here, so it will not be repeated.

[0044] A top wheel receiving hole 42 for receiving the top roller 33 when the endless belt 22 changes from the first contracted state to the second expanded state is also provided inside the inner support frame 32 .

[0045] like Figure 7As shown, the sliding and stabilizing clamping seat 18 includes a sliding seat 23, a workpiece clamping block 24 and a first accommodating groove 25. The workpiece clamping block 24 and the first accommodating groove 25 are both arranged on one side of the sliding seat 23, and the workpiece clamping block 24 and the first accommodating groove 25 are arranged up and down, an upper clamping plate 26 is arranged on the top side of the sliding seat 23, and a lower clamping plate 27 is arranged on the bottom side of the sliding seat 23. The upper clamping plate 26, the sliding seat 23 and the lower clamping plate 27 together form the first accommodating groove 25, and the workpiece clamping block 24 is arranged at the upper end of the upper clamping plate 26.

[0046] The projections of the workpiece clamping block 24 and the upper clamping plate 26 in the vertical direction coincide with the projections of the lower clamping plate 27 in the vertical direction, so that it is more convenient to control the movements of the workpiece clamping block 24 and the annular belt 22 when clamping the workpiece.

[0047] In addition, if Figure 6 , 8 As shown, the movable transition clamping assembly 19 also includes a first movable outer frame 20 arranged outside the second inner support assembly 21, the first movable outer frame 20 includes a connecting plate 30 and a first side plate 28 and a second side plate 29 arranged on both sides of the connecting plate 30, a sixth slide groove 61 is arranged on the inner side of the first side plate 28, and a fifth slide groove 60 is arranged on the inner side of the second side plate 29, as shown in FIG. Fig. 9 As shown, a first guide block 58 and a second guide block 59 are respectively arranged on the front and rear sides of the inner support frame 32, the first guide block 59 is slidably arranged in the sixth slide groove 61, and the second guide block 59 is slidably arranged in the fifth slide groove 60. In addition, a sliding drive source is arranged in the fifth slide groove 60 and the sixth slide groove 61, such as a telescopic cylinder, a telescopic motor, etc., so as to drive the second inner support assembly 21 to slide relative to the sliding stabilizing clamp 18, and the first movable outer frame 20 is arranged in the first accommodating groove 25. The specific structures such as the telescopic cylinder and the telescopic motor mentioned above are common knowledge in the field and will not be repeated here.

[0048] like Fig.11As shown, the clamp seat body 16 includes a front plate 52, a side wall 49 and a rear plate seat 68. A movable inner groove 53 for the action of the clamping jaw assembly 17 is formed in the space surrounded by the front plate 52, the side wall 49 and the rear plate seat 68. A front through hole 51 is opened in the middle of the front plate 52, and a rear through hole 50 is opened in the middle of the rear plate seat 68. The movable inner groove 53 includes an inner circular hole 74, a first slide groove 54, a second slide groove 55, a third slide groove 56 and a fourth slide groove 57. The first slide groove 54, the second slide groove 55, the third slide groove 56 and the fourth slide groove 57 are 7 extends through the front plate 52, and the first slide groove 54, the second slide groove 55, the third slide groove 56 and the fourth slide groove 57 are all slidably provided with a clamping jaw assembly 17, and the first slide groove 54, the second slide groove 55, the third slide groove 56 and the fourth slide groove 57 are all provided with a sliding driving source (not shown in the figure) capable of driving the clamping jaw assembly 17 to slide. The specific sliding driving source may be a telescopic driving motor, a telescopic driving cylinder or a rack structure driven by a motor. The specific sliding driving source is common knowledge in the field and will not be described in detail here.

[0049] The space provided by the inner circular hole 74 is sufficient for the annular band 22 to deform from the first contracted state to the second expanded state.

[0050] In addition, a top shaft 73 is provided on one side of the first rotating base 14 close to the second rotating clamping seat assembly 15. The top shaft 73 can pass through the rear through hole 50 and the front through hole 51, and can cooperate with the action of the clamping jaw assembly 17. In addition, in order to enable the extension and retraction of the top shaft 73 to enable the shaft parts to be processed to move axially relative to the annular belt 22 when the annular belt 22 clamps the shaft parts to be processed, a plurality of retractable guide wheel structures (not shown in the figure) are provided on the surface of the annular belt 22. In the normal state, the retractable guide wheel structures are hidden in the lower surface of the annular belt 22. When the top shaft 73 is extended and retracted, the retractable guide wheel structures are higher than the surface of the annular belt 22. In this way, the shaft parts to be processed can be moved when the annular belt 22 is clamped. In addition, the rotation axis direction of the retractable guide wheel is perpendicular to the retractable movement direction of the top shaft 73. In addition, of course, the movement of the shaft parts to be processed can also be achieved by sliding the first Y-direction slide rail seat 5 and the second V-direction slide rail seat 10, and at this time, the telescopic sliding cooperation of the top shaft 73 is no longer required.

[0051] Furthermore, if Fig.10As shown, the inner support frame 32 also includes a first arc hole 43, a second arc hole 44, a first vertical plate slide groove 45 and a second vertical plate slide groove 46, the first front arc plate 38 and the second front arc plate 40 are inserted into the first arc hole 43, the first rear arc plate 39 and the second rear arc plate 41 are inserted into the second arc hole 44, the first vertical plate 36 is inserted into the first vertical plate slide groove 45, and the second vertical plate 37 is inserted into the second vertical plate slide groove 46, so as to facilitate guiding and shrinkage accommodation.

[0052] The top wheel receiving hole 42 is composed of a first straight line segment 47 and a second arc segment 48 , and a radius r of the second arc segment 48 is greater than or equal to a radius of the top roller 33 .

[0053] like Figure 1 As shown, the Y and V axes are along the length direction of the machine base 1, the X and W axes are along the width direction of the machine base 1, the Z and U axes are along the height direction of the machine base 1, the rotation axis of the first A-axis rotating fixture assembly 8 is the A-axis, the rotation axis of the rotating tool holder 71 is the B-axis, and the rotation axis of the second C-axis rotating fixture assembly 13 is the C-axis. The A-axis and the C-axis are parallel, and the B-axis is perpendicular to the A-axis.

[0054] The nine axes in the nine-axis five-linkage refer to: X, Y, Z, A, B, W, U, V and C axes, and the five-linkage refers to X, Y, Z, A and B axes, or B, W, U, V and C axes.

[0055] In addition, in order to facilitate the adjustment of the tool, the rotating tool seat 71 can be set on one side of the rotating shaft 70, and the other side of the rotating shaft 70 can be set on the third vertical slide 69. The third vertical slide groove 69 is slidably set on the tool holder 72. The tool holder 72 is set at the upper end of the machine base 1, located on one side of the first clamping assembly 2 and the second clamping assembly 3.

[0056] Furthermore, in order to enable the annular belt 22 to better fit the shaft workpiece to be processed in the second unfolded state, the inner support frame 32 is made to have an arc structure as a whole, and the bottom edge of the inner support frame 32 is an arc structure with a radius of R, and the center of the arc structure is O. The first arc hole 43 and the second arc hole 44 are also arc structures, and the centers of the first arc hole 43 and the second arc hole 44 coincide with the center O.

[0057] Furthermore, in order to control the rotation speed of the endless belt 22, the first left roller 34 and / or the second right roller and / or the top roller 33 may be provided with a drive motor and / or a brake structure. The rotation speed of the endless belt 22 may be actively changed by the drive motor, and the rotation speed of the endless belt 22 may be passively adjusted by the brake structure. The specific drive motor and brake structure are well-known structures in the art and will not be described in detail here.

[0058] Example 2

[0059] The difference between Example 2 and Example 1 is that the movable transition clamping assembly 19 in the second clamping jaw assembly 17 can also cooperate with the sliding stable clamping seat 18 to clamp and position the shaft workpiece to be processed, specifically:

[0060] like Figure 7-8 As shown in , 11, a through hole 6 31 is provided at the connecting plate 30 of the first movable outer frame 20, a first arc guide block 62 is provided on the outer side of the first side plate 28, and a second arc guide block 63 is provided on the outer side of the second side plate 29, a first upper guide groove 64 is provided at the lower end of the upper clamping plate 26, and a second lower guide groove 65 is provided at the upper end of the lower clamping plate 27, the first arc guide block 62 is embedded in the first upper guide groove 64, and the second arc guide block 63 is embedded in the second lower guide groove 65, and a driving wheel is provided on the first arc guide block 62 and / or the second arc guide block 63, and the first movable outer frame 20 is rotated relative to the sliding and stabilizing clamping seat 18 by contacting the first upper guide groove 64 and the second lower guide groove 65 through the driving wheel, and a front plate groove 66 is provided on the inner side of the front plate 52, and a rear plate groove 67 is provided on the inner side of the rear plate seat 68, and the front plate groove 6 6 and the first upper guide groove 64 can be connected to each other, and the rear plate groove 67 and the second lower guide groove 65 can be connected to each other. When the shaft workpiece to be processed needs to be positioned initially, the upper end of the annular belt 22 can be extended to the outside of the first movable outer frame 20 through the through hole six 31, and then the annular belt 22 is rotated by driving the first left roller 34 and / or the second right roller and / or the top roller 33 to rotate, and then connected to the inner side of the sliding seat 23, so that the first movable outer frame 20 can rotate relative to the sliding seat 23, and transfer from the first accommodating groove 25 to the movable inner groove 53, and finally, the clamping positioning parts of the shaft are increased from 4 to 8, and then the movable stable clamping seat 18 and the second inner support assembly 21 are clamped together, so that the shaft workpiece to be processed can be better clamped and the machining accuracy of the shaft workpiece can be better improved.

[0061] Furthermore, the front plate groove 66 and the first upper guide groove 64 after docking form a complete annular groove 1, and the rear plate groove 67 and the second lower guide groove 65 after docking form a complete annular groove 2. The centers of the annular groove 1 and the annular groove 2 coincide with each other and have the same radius.

[0062] In addition, in order to be able to reduce the speed difference generated when switching between the two main shafts after the second inner support component 21 cooperates with the movable stable clamp 18 to fix the shaft parts, that is, to achieve the function of Example 1, that is, to return to the first accommodating groove 25, the front plate groove 66 and the rear plate groove 67 of the adjacent first slide groove, second slide groove, third slide groove and fourth slide groove are arranged as movable slide grooves that can change their positions. The movable slide groove can slide away from or close to the center direction of the annular groove one or the annular groove two, so that the second inner support component 21 that has been clamped for processing can return to the first accommodating groove 25.

[0063] Specifically, Fig.17 As shown, the front plate slot 66 and the rear plate slot 67 have the same structure. The front plate slot 66 between the first slide slot and the second slide slot, the front plate slot 66 between the second slide slot and the third slide slot, the front plate slot 66 between the third slide slot and the fourth slide slot, and the front plate slot 66 between the fourth slide slot and the first slide slot have the same structure, and all include a fixed slot 74 located in the middle. The two sides of the fixed slot 74 are respectively connected with a movable slot 1 77 and a movable slot 2 78. The movable slot 1 77 is arranged on the movable slot block 1 75. The movable groove 2 78 is arranged on the movable groove block 2 76, and the movable groove block 1 75 and the movable groove block 2 76 are telescopically driven by a telescopic driving cylinder (not shown in the figure). There is a gap between the movable groove 1 77 and the second slide groove 55, and there is a gap between the movable groove 2 78 and the third slide groove 56, so that docking can be facilitated. In addition, in order to prevent the first movable outer frame 20 from sliding out of the slide groove, the length of the first arc guide block 62 and / or the second arc guide block 63 is made greater than the gap to avoid sliding out.

[0064] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the operating principle of the nine-axis five-linkage CNC machine tool of the present application is described as follows: when the machining of the shaft-like parts to be machined clamped in the first A-axis rotating fixture assembly 8 is completed using a machining tool, and the second C-axis rotating fixture assembly 13 needs to be replaced to clamp the other end of the shaft-like parts to be machined, the second inner support assembly 21 of the first A-axis rotating fixture assembly 8 slides outward along the fifth slide groove 60 and the sixth slide groove 61, so that the second inner support assembly 21 is exposed to the sliding and stable clamping seat 18, and the top roller 33 is retracted, and the first left roller 34 and the second right roller 35 are extended, and finally the annular belt 22 is changed from a contracted state to an expanded state, and then, one end of the shaft-like parts to be machined is clamped by the annular belt 22, and at the same time, the sliding and stable clamping seat 18 is retreated, and one end of the shaft-like parts to be machined is clamped by the second inner support assembly 21, and then the other end of the shaft-like parts to be machined passes through the sliding second C-axis rotating fixture assembly 13 through the top shaft 73 or by sliding the second C-axis rotating fixture assembly 13. The clamp assembly 13 is rotated, and then the second inner support assembly 21 of the sliding second C-axis rotating clamp assembly 13 is first changed from a contracted state to an expanded state, and then the second inner support assembly 21 of the second C-axis rotating clamp assembly 13 is driven to slide outward along the fifth slide groove 60 and the sixth slide groove 61 to clamp the other end of the shaft part to be processed. Since the shaft part to be processed is clamped by the annular belt 22 at this time, the shaft part to be processed can realize the speed difference between the first A-axis rotating clamp assembly 8 and the second C-axis rotating clamp assembly 13 through the rotation of the annular belt 22. When adjusting the speed difference specifically, the annular belt of the first A-axis rotating clamp assembly 8 can be kept stationary, or the annular belt can be kept in a state of opposite rotation, thereby reducing the rotation speed of the shaft part to be processed, and then slowly adjusting the speed of the annular belt of the second C-axis rotating clamp assembly 13, thereby reducing the speed difference when exchanging the spindle. In addition, the speed of the original spindle does not need to be decelerated or stopped, that is, the clamping conversion of the shaft part is completed.

[0065] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A nine-axis five-linkage CNC machine tool, comprising a machine base (1), a first clamping assembly (2), a second clamping assembly (3) and a third machining tool assembly (4), wherein the first clamping assembly (2) and the second clamping assembly (3) are movably arranged on the machine base (1), the first clamping assembly (2) comprises a first Y-direction slide rail seat (5), a first X-direction slide rail seat (6), a first Z-direction slide rail seat (7) and a first A-direction rotating fixture assembly (8), the second clamping assembly (3) comprises a second V-direction slide rail seat (10), a second W-direction slide rail seat (11), a second U-direction slide rail seat (12) and a second C-direction rotating fixture assembly (13), the third machining tool assembly (4) comprises a rotating tool seat (71), and a machining tool (9) is arranged on the rotating tool seat (71), characterized in that: The first A-direction rotating clamp assembly (8) and the second C-direction rotating clamp assembly (13) both comprise a first rotating base (14) and a second rotating clamp seat assembly (15), wherein the second rotating clamp seat assembly (15) is rotatably disposed on one side of the first rotating base (14), and the second rotating clamp seat assembly (15) comprises a clamp seat body (16) and a plurality of clamping jaw assemblies (17) slidably disposed in the clamp seat body (16), wherein the clamping jaw assembly (17) comprises a sliding stable clamp seat (18) and a movable The movable transition clamping assembly (19) comprises a second inner support assembly (21) and an annular belt (22) arranged around the outer side of the second inner support assembly (21); the second inner support assembly (21) is slidably arranged in the sliding stable clamping seat (18); when the shaft workpiece to be processed is clamped by the first A-axis rotating clamp assembly (8) and converted to be clamped by the second C-axis rotating clamp assembly (13), or when the second C-axis rotating clamp assembly (13) is clamped and converted to be clamped by the first A-axis rotating clamp assembly (8), the movable transition clamping assembly (19) comprises a second inner support assembly (21) and an annular belt (22) arranged around the outer side of the second inner support assembly (21); the second inner support assembly (21) is slidably arranged in the sliding stable clamping seat (18); when the shaft workpiece to be processed is clamped by the first A-axis rotating clamp assembly (8) and converted to be clamped by the second C-axis rotating clamp assembly (13), the movable transition clamping assembly (19) comprises a second inner support assembly (21) and an annular belt (22) arranged around the outer side of the second inner support assembly (21); the second inner support assembly (21) is slidably arranged in the sliding stable clamping seat (18); When the movable transition component (19) of the first A-axis rotating clamp component (8) or the second C-axis rotating clamp component (13) that clamps one end of the shaft workpiece to be processed slides relative to the sliding stable clamp seat (18), and the movable transition clamp component (19) replaces the sliding stable clamp seat (18) to clamp one end of the shaft workpiece to be processed, and then the second C-axis rotating clamp component (13) or the movable transition clamp component (19) of the first A-axis rotating clamp component (8) at the other end of the shaft workpiece to be processed replaces the sliding stable clamp seat (18). 9) clamping the other end of the shaft workpiece to be processed, and the rotation speed difference generated by the rotation of the first A-axis rotating clamp component (8) or the second C-axis rotating clamp component (13) when switching the clamping is buffered by an annular belt (22) arranged around the outside of the second inner support component (21). After the speeds of the two annular belts (22) are consistent, the movable transition component (19) at one end of the shaft workpiece to be processed is retracted and exited from the clamping, and then the sliding stable clamping seat (18) at the other end of the shaft workpiece to be processed clamps the shaft workpiece to be processed.

2. A nine-axis five-link CNC machine tool as claimed in claim 1, characterized in that: The second inner support assembly (21) comprises an inner support frame (32), a top roller (33), a first left roller (34) and a second right roller (35); the top roller (33) is vertically slidably arranged at the upper end of the inner support frame (32); the first left roller (34) is transversely slidably arranged at one side of the inner support frame (32); the second right roller (35) is transversely slidably arranged at the other side of the inner support frame (32); and the endless belt (22) is wound around the outer sides of the top roller (33), the first left roller (34) and the second right roller (35).

3. A nine-axis five-linkage CNC machine tool as claimed in claim 2, characterized in that: The annular belt (22) can switch between a first contracted state and a second expanded state. When the movable transition clamping assembly (19) does not clamp the shaft workpiece to be processed, the annular belt (22) is in the first contracted state and is accommodated on the inner side of the sliding and stable clamping seat (18). When the movable transition clamping assembly (19) clamps the shaft workpiece to be processed, the annular belt (22) is in the second expanded state and is exposed on the sliding and stable clamping seat (18).

4. A nine-axis five-linkage CNC machine tool as claimed in claim 3, characterized in that: The first left roller (34) is provided with a first front arc plate (38) and a first rear arc plate (39) at both ends, the second right roller is provided with a second front arc plate (40) and a second rear arc plate (41) at both ends, and the top roller (33) is provided with a first vertical plate (36) and a second vertical plate (37) at both ends. The telescopic position of the first left roller (34) is adjusted by telescoping the first front arc plate (38) and the first rear arc plate (39), the telescopic position of the second right roller (35) is adjusted by telescoping the second front arc plate (40) and the second rear arc plate (41), and the telescopic position of the top roller (33) is adjusted by telescoping the first vertical plate (36) and the second vertical plate (37).

5. A nine-axis five-linkage CNC machine tool as claimed in claim 4, characterized in that: The sliding and stabilizing clamping seat (18) comprises a sliding seat (23), a workpiece clamping block (24) and a first accommodating groove (25); the workpiece clamping block (24) and the first accommodating groove (25) are both arranged on one side of the sliding seat (23), and the workpiece clamping block (24) and the first accommodating groove (25) are arranged up and down; an upper clamping plate (26) is arranged on the top side of the sliding seat (23), and a lower clamping plate (27) is arranged on the bottom side of the sliding seat (23); the upper clamping plate (26), the sliding seat (23) and the lower clamping plate (27) are combined to form the first accommodating groove (25); the workpiece clamping block (24) is arranged on the upper end of the upper clamping plate (26).

6. A nine-axis five-linkage CNC machine tool as claimed in claim 5, characterized in that: The movable transition clamping assembly (19) further comprises a first movable outer frame (20) arranged outside the second inner support assembly (21), the first movable outer frame (20) comprising a connecting plate (30) and a first side plate (28) and a second side plate (29) arranged on both sides of the connecting plate (30), a sixth slide groove (61) is arranged on the inner side of the first side plate (28), a fifth slide groove (60) is arranged on the inner side of the second side plate (29), and a first movable outer frame (20) is arranged on the front and rear sides of the inner support frame (32) respectively. There are a first guide block (58) and a second guide block (59), wherein the first guide block (59) is slidably disposed in the sixth slide groove (61), and the second guide block (59) is slidably disposed in the fifth slide groove (60), and a sliding drive source is disposed in the fifth slide groove (60) and / or the sixth slide groove (61), which can drive the second inner support component (21) to slide relative to the sliding stabilizing clamp (18), and the first movable outer frame (20) is disposed in the first accommodating groove (25).

7. The nine-axis five-link CNC machine tool according to claim 1, characterized in that: The clamp seat body (16) includes a front plate (52), a side wall (49) and a rear plate seat (68). A movable inner groove (53) for the clamping jaw assembly (17) to move is formed in the space surrounded by the front plate (52), the side wall (49) and the rear plate seat (68). A front through hole (51) is opened in the middle of the front plate (52), and a rear through hole (50) is opened in the middle of the rear plate seat (68). The movable inner groove (53) includes an inner circular hole (74), a first slide groove (54), a second slide groove (55), a third slide groove (56) and The fourth slide groove (57), the first slide groove (54), the second slide groove (55), the third slide groove (56) and the fourth slide groove (57) extend and penetrate the front plate (52), the first slide groove (54), the second slide groove (55), the third slide groove (56) and the fourth slide groove (57) are all provided with a second clamping jaw assembly (17) for sliding, and the first slide groove (54), the second slide groove (55), the third slide groove (56) and the fourth slide groove (57) are all provided with a sliding driving source capable of driving the second clamping jaw assembly (17) to slide.

8. The nine-axis five-link CNC machine tool according to claim 6, characterized in that: The inner support frame (32) further comprises a first arc-shaped hole (43), a second arc-shaped hole (44), a first vertical plate slide groove (45) and a second vertical plate slide groove (46); the first front arc plate (38) and the second front arc plate (40) are inserted into the first arc-shaped hole (43); the first rear arc plate (39) and the second rear arc plate (41) are inserted into the second arc-shaped hole (44); the first vertical plate (36) is inserted into the first vertical plate slide groove (45); and the second vertical plate (37) is inserted into the second vertical plate slide groove (46).

9. A nine-axis five-linkage CNC machine tool as claimed in claim 8, characterized in that: The first left roller (34) and / or the second right roller and / or the top roller (33) are all provided with a driving motor and / or a braking structure.

10. A nine-axis five-linkage CNC machine tool as claimed in claim 9, characterized in that: A through hole six (31) is provided at the connecting plate (30) of the first movable outer frame (20); a first arc-shaped guide block (62) is provided on the outer side of the first side plate (28); a second arc-shaped guide block (63) is provided on the outer side of the second side plate (29); a first upper guide groove (64) is provided at the lower end of the upper clamping plate (26); a second lower guide groove (65) is provided at the upper end of the lower clamping plate (27); the first arc-shaped guide block (62) is embedded in the first upper guide groove (64); the second arc-shaped guide block (63) is embedded in the second lower guide groove (65); A driving wheel is provided on the first arc guide block (62) and / or the second arc guide block (63), and the first movable outer frame (20) is rotated relative to the sliding and stabilizing clamping seat (18) by contacting the first upper guide groove (64) and the second lower guide groove (65) through the driving wheel. A front plate groove (66) is provided on the inner side of the front plate (52), and a rear plate groove (67) is provided on the inner side of the rear plate seat (68). The front plate groove (66) and the first upper guide groove (64) can be connected to each other, and the rear plate groove (67) and the second lower guide groove (65) can be connected to each other.

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