Nine-axis five-linkage numerical control machine tool

Abstract

The application discloses a nine-shaft five-linkage numerical control machine tool, and belongs to the technical field of machine tools. When the shaft parts are replaced, the speed difference is generated. The ring belt is introduced into the clamp for clamping. Through the arrangement of the ring belt, the shaft workpiece can be clamped flexibly, and the speed difference generated when the shaft part is clamped and replaced can be compensated. The clamping and replacement can be carried out without stopping or through the shaft clamping mode. Compared with the existing clamping mode, the clamping precision can be improved, and the speed difference generated during clamping can be well buffered. The corresponding clamping workpiece jaw assembly two comprises a sliding stable clamping seat and a movable transition clamping assembly arranged in the sliding stable clamping seat. The structure is compact, and the function of buffering the speed difference is added compared with the existing clamp.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, specifically a nine-axis five-linkage CNC machine tool. Background Technology

[0002] A nine-axis, five-linkage CNC machine tool is a machine tool in which five of its nine motion axes can move simultaneously and in a coordinated manner. Due to the large number of axes, it can process more complex parts in a single operation, classifying it as a high-end machine tool. Existing nine-axis, five-linkage CNC machine tools, such as patent document 1 (CN105171534A), combine vertical and horizontal machine tools to form a vertical-horizontal composite machining center. The horizontal machining head can achieve multiple angle swing angles, and the spindle can be extended axially. The worktable uses a large-area rotary table, capable of handling multi-faceted and multi-angle inclined milling, drilling, and boring operations. It can achieve one-time clamping, automatic tool changing, and complete all multi-faceted, multi-angle, and multi-station milling, drilling, and boring operations. However, it cannot effectively clamp shaft-type parts, and its machining of shaft-type parts is even more challenging. Further machining of the clamping portion of the shaft is performed; for example, Patent Document 2 (CN112935870A) discloses a clamping system for a dual-spindle machining center for shaft parts. This system features clamping components for shaft parts. To enable machining of both parts of the shaft, it employs dual-spindle jaws. After machining one side of the shaft, an axial push rod ejects the shaft, simultaneously releasing the jaw. An axial abutment is located inside the other spindle jaw. When changing the clamping jaws, the jaws are released, and the axial push rod and axial abutment together press against the spindle, causing the spindle to move closer to the other jaw. When the rotational speed of the shaft is approximately the same as the rotational speed of the gripper, the gripper is then clamped. This prevents the speed difference between the second and first spindles from forcibly driving the spindle motor and causing damage, and also prevents the workpiece surface from being damaged by friction from the gripper. Although the combined action of the axial push rod and axial push rod compensates for the speed difference when the shaft part is clamped from one end to the other, the radial deviation of the shaft part when the gripper is changed occurs because the gripper is no longer clamping the shaft part and the shaft part is still rotating. This affects... This affects the subsequent processing accuracy; finally, as in patent document 3 (CN117817416A), it discloses a loading and unloading device for machine tools. In order to facilitate the quick and automatic loading and unloading of shaft-type workpieces, it sets up a ring belt around the outer circumference of the movable wheel and roller in the workpiece tray. The rotation of the ring belt drives the shaft-type workpieces to disengage or engage, thereby realizing the loading and unloading of workpieces. This effectively solves the safety hazards to operators caused by the clamping action of the gripper or the accidental rotation of the gripper. Although the ring belt is used for loading and unloading shaft-type workpieces, it mainly plays a transportation role and cannot clamp the workpieces.

[0003] In summary, for nine-axis five-linkage CNC machine tools, there is no clamping device that can effectively ensure both spindle synchronization and clamping accuracy when changing shaft-type machining parts. Even if axial clamping rods with dual-spindle synchronization are designed, they do not effectively clamp the shaft-type machining parts radially, inevitably causing vibration during clamping changes. This leads to displacement of the shaft-type machining parts, resulting in a change in the position of the shaft-type parts after clamping changes, requiring readjustment and increasing the number of machining steps. Therefore, this application provides a nine-axis five-linkage CNC machine tool that can ensure the clamping accuracy of shaft-type machining parts without readjustment when changing clamping devices, and can ensure a smooth transition between the two spindles when changing spindles. Summary of the Invention

[0004] To overcome the shortcomings of existing nine-axis five-linkage CNC machine tools, this invention provides a technical solution: a nine-axis five-linkage CNC machine tool, comprising a machine base, a first clamping assembly, a second clamping assembly, and a third machining tool assembly. The first and second clamping assemblies are movably mounted on the machine base. The first clamping assembly includes a first Y-axis slide rail, a first X-axis slide rail, a first Z-axis slide rail, and a first A-axis rotary fixture assembly. The second clamping assembly includes a second V-axis slide rail, a second W-axis slide rail, a second U-axis slide rail, and a second C-axis rotary fixture assembly. The third machining tool assembly includes a rotary tool holder on which a machining tool is mounted. Both the first A-axis rotary clamping assembly and the second C-axis rotary clamping assembly include a first rotary base and a second rotary clamping assembly. The second rotary clamping assembly is rotatably mounted on one side of the first rotary base. The second rotary clamping assembly includes a clamping body and several jaw assemblies 2 slidably disposed within the clamping body. Each jaw assembly 2 includes a sliding stabilizing clamp and a movable transition clamping assembly. The movable transition clamping assembly includes a second inner support assembly and a ring band surrounding the outer side of the second inner support assembly. The second inner support assembly is slidably disposed within the sliding stabilizing clamp. When the workpiece to be machined is switched from being clamped by the first A-axis rotary clamping assembly to being clamped by the second C-axis rotary clamping assembly, or vice versa, the movable transition assembly of the first A-axis rotary clamping assembly or the second C-axis rotary clamping assembly clamping one end of the workpiece to be machined slides relative to the sliding stabilizing clamp, and the movable transition clamping assembly replaces the sliding stabilizing clamp in clamping one end of the workpiece to be machined. Subsequently, the movable transition clamping assembly of the second C-direction rotary clamping assembly or the first A-direction rotary clamping assembly clamps the other end of the shaft workpiece to be processed. The rotational speed difference generated by the rotation of the first A-direction rotary clamping assembly or the second C-direction rotary clamping assembly during the switching clamping is buffered by the ring belt surrounding the outside of the second inner support assembly. After the speeds of the two ring belts are consistent, the movable transition assembly of the shaft workpiece at one end retracts and exits the clamping. Then, the sliding stabilizing clamp at the other end of the shaft workpiece 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 disposed at the upper end of the inner support frame, the first left roller is horizontally slidably disposed on one side of the inner support frame, and the second right roller is horizontally slidably disposed on the other side of the inner support frame. The ring belt is wrapped around the outside of the top roller, the first left roller, and the second right roller.

[0006] Furthermore, the ring belt can switch between a first contracted state and a second extended state. When the movable transition clamping assembly is not clamping the shaft-like workpiece to be processed, the ring belt is in the first contracted state and is housed inside the sliding stabilizing clamp. When the movable transition clamping assembly clamps the shaft-like workpiece to be processed, the ring belt is in the second extended state and is exposed outside the sliding stabilizing clamp.

[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 extension and retraction of the first front arc plate and the first rear arc plate are used to adjust the extension and retraction position of the first left roller, the extension and retraction of the second right roller are used to adjust the extension and retraction position of the second right roller, and the extension and retraction of the top roller are used to adjust the extension and retraction position of the top roller.

[0008] Furthermore, the sliding stabilizing clamp includes a sliding seat, a workpiece clamping block, and a first receiving groove. The workpiece clamping block and the first receiving groove are both disposed on one side of the sliding seat, and the workpiece clamping block and the first receiving groove are arranged vertically. An upper clamping plate is disposed on one side of the top of the sliding seat, and a lower clamping plate is disposed on one side of the bottom of the sliding seat. The upper clamping plate, the sliding seat, and the lower clamping plate together form the first receiving groove, and the workpiece clamping block is disposed on the upper end of the upper clamping plate.

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

[0010] Furthermore, the clamping body includes a front plate, a side wall, and a rear plate seat. A movable inner groove for the gripper assembly two to move is formed within the space enclosed by the front plate, side wall, and rear plate seat. A front through hole is provided in the middle of the front plate, and a rear through hole is provided in the middle of the rear plate seat. The movable inner groove includes an inner circular hole, a first sliding groove, a second sliding groove, a third sliding groove, and a fourth sliding groove. The first sliding groove, the second sliding groove, the third sliding groove, and the fourth sliding groove extend and penetrate the front plate. The gripper assembly two is slidably disposed in each of the first sliding groove, the second sliding groove, the third sliding groove, and the fourth sliding groove. A sliding drive source capable of driving the gripper assembly two to slide is provided in each of the first sliding groove, the second sliding groove, the third sliding groove, and the fourth sliding groove.

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

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

[0013] Furthermore, a through hole six is ​​provided at the connecting plate of the first movable outer frame, a first arc-shaped guide block is provided on the outer side of the first side plate, a second arc-shaped 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-shaped guide block is embedded in the first upper guide groove, and the second arc-shaped guide block is embedded in the second lower guide groove. A drive wheel is provided on the first arc-shaped guide block and / or the second arc-shaped guide block. The first movable outer frame rotates relative to the sliding stable clamping seat by contacting the drive wheel with the first upper guide groove and the second lower guide groove. 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 this invention are as follows:

[0015] 1) The nine-axis five-linkage CNC machine tool of the present invention addresses the problem of speed difference that occurs when the spindle of shaft parts is changed. It introduces a ring belt for clamping in the fixture. By setting the ring belt, in addition to flexibly clamping shaft workpieces, it can also compensate for the speed difference that occurs when the shaft parts are clamped and changed. It can be clamped and changed without stopping the machine or by using shaft clamping. Compared with the existing clamping method, it can improve the clamping accuracy and also effectively buffer the speed difference that occurs during clamping.

[0016] 2) Furthermore, the second clamping jaw assembly for clamping workpieces includes a sliding stabilizing clamp and a movable transition clamping assembly disposed therein. When clamping shaft-type parts normally, clamping can be completed simply by sliding stabilizing clamp. When it is necessary to change the clamping of the spindle, the movable transition clamping assembly will be activated. Moreover, since it is disposed inside the sliding stabilizing clamp, it does not increase the installation space of the clamp in addition to the clamping function of the fixture. Its structure is compact, and it adds the function of buffering speed difference compared with the existing fixture.

[0017] 3) Further, the movable transition clamping assembly includes a top roller, a first left roller, and a second right roller. The ring belt is arranged around the outside of the top roller, the first left roller, and the second right roller. The movement of the top roller, the first left roller, and the second right roller changes the external shape of the ring belt, so that the ring belt can freely switch between two forms: an isosceles triangle and a flat ring belt. The shape of the flat ring belt can better adapt to the external fit of the shaft parts, thereby improving the clamping accuracy of the shaft parts. The shape of the isosceles triangle can better hide the sliding transition clamping assembly, making the structure more compact.

[0018] 4) Finally, in order for the fixture to effectively buffer the spindle during the change of the spindle clamping for the shaft parts to be machined, and to cooperate with the sliding stabilizing clamp for initial positioning, the movable transition clamping assembly can slide out of the sliding stabilizing clamp. When the sliding stabilizing clamp is retracted, the movable transition clamping assembly and the sliding stabilizing clamp work together to position the shaft parts to be machined, thereby doubling the number of positioning points, such as increasing from four positioning points to eight positioning points. This further reduces the impact of the outer diameter of the shaft parts on the machining process. The positioning accuracy is improved compared to the previous positioning, which reduces the error caused by the degree of error during clamping. In addition, in order to enable the movable transition clamping component to return to the inner side of the sliding stable clamp after positioning, the front and rear plate grooves of the adjacent first, second, third, and fourth slide grooves are provided with movable slide grooves that can change position. These movable slide grooves can slide away from or towards the center of the first or second annular groove, so that the second inner support component that has been clamped to be processed can return to the first receiving groove. Attached Figure Description

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

[0020] Figure 2 This is a top view of the first A-axis rotary clamp assembly or the second C-axis rotary clamp assembly of the present invention;

[0021] Figure 3This is a perspective view of the first A-axis rotary clamp assembly or the second C-axis rotary clamp assembly of the present invention. Figure 2 Enlarged view B;

[0022] Figure 4 This is a schematic diagram of the structure of the first A-axis rotary clamping assembly or the second C-axis rotary clamping assembly of the present invention when clamping a workpiece;

[0023] Figure 5 This is a three-dimensional view of the gripper assembly two of the present invention;

[0024] Figure 6 This is an exploded view of gripper assembly two;

[0025] Figure 7 Schematic diagram of the sliding and stabilizing clamp structure;

[0026] Figure 8 This is a schematic diagram of the outer frame structure of the first activity.

[0027] Figure 9 This is a schematic diagram of the second internal support component structure;

[0028] Figure 10 This is a schematic diagram of the internal support frame structure;

[0029] Figure 11 This is a schematic diagram of the structure of the clamp body;

[0030] Figure 12 This is another configuration for the first A-axis rotary clamping assembly or the second C-axis rotary clamping assembly when changing axes;

[0031] Figure 13 This is another form of clamping when the gripper assembly changes its axis.

[0032] Figure 14 An exploded view of another configuration of the gripper assembly when the two axes are switched;

[0033] Figure 15 This is a schematic diagram of the gripper assembly 2 of the first A-axis rotary clamping assembly or the second C-axis rotary clamping assembly in the operating state.

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

[0035] Figure 17 The second embodiment Figure 11 GG cross-sectional view.

[0036] Label Explanation

[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 rotary 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 rotary fixture assembly; 14. First rotary base; 15. Second rotary clamping seat assembly; 16. Clamping seat itself 17. Gripper assembly 2; 18. Sliding stabilizing clamp; 19. Movable transition clamping assembly; 20. First movable outer frame; 21. Second inner support assembly; 22. Ring belt; 23. Sliding seat; 24. Workpiece clamping block; 25. First receiving 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-shaped hole; 44. Second arc-shaped hole; 45. First vertical plate groove; 46. Second vertical plate groove; 47. First straight section; 48. Second arc section; 49. Side wall; 50. Rear through hole; 51. Front through hole; 52. Front plate; 53. Movable inner groove; 54. First groove; 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-shaped guide block; 63. Second arc-shaped 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; 70. Rotary shaft; 71. Rotary tool holder; 72. Tool support; 73. Top shaft; 74. Inner circular hole. Detailed Implementation

[0038] The present invention will be further described below with reference to embodiments, but this is not intended to limit the present invention in any way. Any modifications or substitutions made based on the teachings of the present invention shall fall within the protection scope of the present invention.

[0039] Example 1

[0040] A nine-axis, five-linkage CNC machine tool, such as Figure 1-16As shown, it includes a 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 mounted on the base 1. The first clamping assembly 2 includes a first Y-axis slide rail 5, a first X-axis slide rail 6, a first Z-axis slide rail 7, and a first A-axis rotary clamping assembly 8. The second clamping assembly 3 includes a second V-axis slide rail 10, a second W-axis slide rail 11, a second U-axis slide rail 12, and a second C-axis rotary clamping assembly 13. The third machining tool assembly 4 includes a rotary tool holder 71 on which a machining tool 9 is mounted. The first A-axis rotary clamping assembly 8 and the second C-axis rotary clamping assembly 4 are movably mounted on the base 1. The rotary clamp assembly 13 has the same structure, including a first rotary base 14 and a second rotary clamp assembly 15. The second rotary clamp assembly 15 is rotatably disposed on one side of the first rotary base 14. The second rotary clamp assembly 15 includes a clamp body 16 and several jaw assemblies 17 slidably disposed within the clamp body 16. The jaw assemblies 17 include a sliding stabilizing clamp 18 and a movable transition clamping assembly 19. The movable transition clamping assembly 19 includes a second inner support assembly 21 and a ring band 22 surrounding the outer side of the second inner support assembly 21. The second inner support assembly 21 is slidably disposed within the sliding stabilizing clamp 18. For shaft-type workpieces to be processed... When the clamping of the workpiece changes from being held by the first A-axis rotary clamping assembly 8 to being held by the second C-axis rotary clamping assembly 13, or vice versa, the movable transition component 19 of the first A-axis rotary clamping assembly 8 or the second C-axis rotary clamping assembly 13, which clamps one end of the shaft-like workpiece to be processed, slides relative to the sliding stabilizing clamp 18. The movable transition clamping component 19 replaces the sliding stabilizing clamp 18 in clamping one end of the shaft-like workpiece to be processed. Subsequently, the movable transition clamping component 19 of the second C-axis rotary clamping assembly 13 or the first A-axis rotary clamping assembly 8 clamps the shaft-like workpiece to be processed at the other end. At the other end of the workpiece, the rotational speed difference during the switching between the first A-to-rotary clamping assembly 8 and the second C-to-rotary clamping assembly 13 is buffered by a ring belt 22 surrounding the second inner support assembly 21. After the speeds of the two ring belts 22 are consistent, the movable transition assembly 19 at one end of the shaft workpiece to be processed retracts and exits the clamping. Then, the sliding stabilizing clamp 18 at the other end of the shaft workpiece to be processed clamps the shaft workpiece to be processed, completing the action of switching the shaft workpiece to be processed from being clamped by the first A-to-rotary clamping assembly 8 to being clamped by the second C-to-rotary clamping assembly 13, or from being clamped by the second C-to-rotary clamping assembly 13 to being clamped by the first A-to-rotary clamping assembly 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 disposed on the upper end of the inner support frame 32. The first left roller 34 is horizontally slidably disposed on one side of the inner support frame 32. The second right roller 35 is horizontally slidably disposed on the other side of the inner support frame 32. The ring belt 22 is wrapped around the outside of the top roller 33, the first left roller 34, and the second right roller 35.

[0042] The annular band 22 is capable of, for example Figure 6 The first contracted state, which is an isosceles triangle, is shown, and as... Figure 14 The device switches between two unfolded states, which are shown in a flat, circular arc shape. When the movable transition clamping assembly 19 is not clamping the shaft-like workpiece to be processed, the ring belt 22 is in a first retracted state and is housed inside the sliding stabilizing clamp 18. When the movable transition clamping assembly 19 clamps the shaft-like workpiece to be processed, the ring belt 22 is in a second unfolded state and is exposed outside the sliding stabilizing clamp 18. This arrangement ensures that the movable transition clamping assembly 19 does not occupy space when not in use, while the unfolded ring belt can clamp the shaft-like workpiece to be processed during clamping. In addition, the workpiece can be clamped more firmly by the three-point clamping of the top roller 33, the first left roller 34, and the second right roller 35.

[0043] like Figure 9 As shown, the first left roller 34 has a first front arc plate 38 and a first rear arc plate 39 at both ends, the second right roller has a second front arc plate 40 and a second rear arc plate 41 at both ends, and the top roller 33 has a first vertical plate 36 and a second vertical plate 37 at both ends. The extension and retraction of the first front arc plate 38 and the first rear arc plate 39 adjusts the extension and retraction position of the first left roller 34. The extension and retraction of the second front arc plate 40 and the second rear arc plate 41 adjusts the extension and retraction position of the second right roller 35. The extension and retraction of the top roller 33 adjusts the extension and retraction position of the first vertical plate 36 and the second vertical plate 37. Specifically, the extension and retraction 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. The extension and retraction drive source can be set as a telescopic cylinder structure, etc. This is common knowledge in the field and is not the focus here, so it will not be described in detail.

[0044] Inside the inner support frame 32, there is also a top roller receiving hole 42 for accommodating the top roller 33 when the ring belt 22 changes from the first contracted state to the second unfolded state.

[0045] like Figure 7As shown, the sliding stabilizing clamp 18 includes a sliding seat 23, a workpiece clamping block 24, and a first receiving groove 25. The workpiece clamping block 24 and the first receiving groove 25 are both disposed on one side of the sliding seat 23, and the workpiece clamping block 24 and the first receiving groove 25 are arranged vertically. An upper clamping plate 26 is disposed on one side of the top of the sliding seat 23, and a lower clamping plate 27 is disposed on one side of the bottom of the sliding seat 23. The upper clamping plate 26, the sliding seat 23, and the lower clamping plate 27 together form the first receiving groove 25, and the workpiece clamping block 24 is disposed on 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 projection of the lower clamping plate 27 in the vertical direction, which makes it easier to control the movement of the workpiece clamping block 24 and the ring belt 22 when clamping the workpiece.

[0047] In addition, such as Figure 6 , 8 As shown, the movable transition clamping assembly 19 further includes a first movable outer frame 20 disposed 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 disposed on both sides of the connecting plate 30. A sixth sliding groove 61 is provided on the inner side of the first side plate 28, and a fifth sliding groove 60 is provided on the inner side of the second side plate 29. Figure 9 As shown, a first guide block 58 and a second guide block 59 are respectively provided on the front and rear sides of the inner support frame 32. 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. In addition, a sliding drive source, such as a telescopic cylinder or a telescopic motor, is provided in the fifth slide groove 60 and the sixth slide groove 61, so as to drive the second inner support component 21 to slide relative to the sliding stable clamp 18. The first movable outer frame 20 is disposed in the first receiving groove 25. The specific structures of the telescopic cylinder and telescopic motor mentioned above are common knowledge in the art and will not be described in detail here.

[0048] like Figure 11As shown, the clamping body 16 includes a front plate 52, a side wall 49, and a rear plate seat 68. A movable inner groove 53 for the gripper assembly 17 to move is formed within the space enclosed by the front plate 52, side wall 49, and rear plate seat 68. A front through hole 51 is provided in the middle of the front plate 52, and a rear through hole 50 is provided in the middle of the rear plate seat 68. The movable inner groove 53 includes an inner circular hole 74, a first sliding groove 54, a second sliding groove 55, a third sliding groove 56, and a fourth sliding groove 57. The first sliding groove 54, the second sliding groove 55, the third sliding groove 56, and the fourth sliding groove 57... 7 extends through the front plate 52. Gripper assemblies 2 17 are slidably disposed in the first slide groove 54, the second slide groove 55, the third slide groove 56 and the fourth slide groove 57. A sliding drive source (not shown in the figure) capable of driving the gripper assembly 2 17 to slide is disposed in the first slide groove 54, the second slide groove 55, the third slide groove 56 and the fourth slide groove 57. The specific sliding drive source can be a telescopic drive motor, a telescopic drive cylinder or a rack and pinion structure driven by a motor. The specific sliding drive source is common knowledge in the art and will not be described in detail here.

[0049] The space provided by the inner circular hole 74 is sufficient for the deformation space of the ring band 22 when it changes from the first contracted state to the second expanded state.

[0050] Additionally, a top shaft 73 is provided on the side of the first rotating base 14 near the second rotating clamp 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 jaw assembly 17. Furthermore, in order to enable the shaft to be processed to move axially relative to the ring belt 22 when the ring belt 22 clamps the shaft to be processed, the extension and retraction of the top shaft 73 is provided with several retractable guide wheel structures (not shown in the figure) on the surface of the ring belt 22. In the normal state, the retractable guide wheel structures are hidden on the lower surface of the ring belt 22. When the top shaft 73 extends and retracts, the retractable guide wheel structures are higher than the surface of the ring belt 22. In this way, the shaft to be processed can be moved even when the ring belt 22 is clamped. In addition, the rotation axis of the retractable guide wheels is perpendicular to the extension and retraction direction of the top shaft 73. Alternatively, the movement of the shaft-type parts to be processed can also be achieved by sliding the first Y-axis slide rail 5 and the second V-axis slide rail 10, in which case the telescopic sliding fit of the top shaft 73 is no longer needed.

[0051] Furthermore, such as Figure 10As shown, the inner support frame 32 also includes a first arc-shaped hole 43, a second arc-shaped hole 44, a first vertical plate groove 45, and a second vertical plate 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 groove 45, and the second vertical plate 37 is inserted into the second vertical plate groove 46, thereby facilitating guidance and retraction.

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

[0053] like Figure 1 As shown, the Y and V axes are along the length direction of the base 1, the X and W axes are along the width direction of the base 1, the Z and U axes are along the height direction of the base 1, the rotation axis of the first A-axis rotary fixture assembly 8 is the A-axis, the rotation axis of the rotary tool holder 71 is the B-axis, the rotation axis of the second C-axis rotary 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 system refer to the X, Y, Z, A, B, W, U, V and C axes, while the five-linkage system refers to the X, Y, Z, A and B axes, or the B, W, U, V and C axes.

[0055] In addition, to facilitate the adjustment of the cutting tool, the rotating tool holder 71 can be disposed on one side of the rotating shaft 70, and the other side of the rotating shaft 70 can be disposed on the third vertical slide 69. The third vertical slide 69 is slidably disposed on the tool holder 72, which is disposed 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 ring belt 22 to better fit the shaft workpiece to be processed in the second unfolded state, the inner support frame 32 is made into an arc-shaped structure as a whole, and the bottom edge of the inner support frame 32 is an arc structure with a radius of R. 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 rotational speed of the belt 22, a drive motor and / or a braking structure can be provided on the first left roller 34 and / or the second right roller and / or the top roller 33. The drive motor can actively change the rotational speed of the belt 22, and the braking structure can passively adjust the rotational speed of the belt 22. The specific drive motor and braking structure are 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 component 19 within the gripper assembly 2 17 can also cooperate with the sliding stabilizing clamp 18 to clamp and position the shaft-type workpiece to be processed. Specifically:

[0060] like Figure 7-8 As shown in Figure 11, a through hole 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, and 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, and 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, and the second arc-shaped guide block 63 is embedded in the second lower guide groove 65. A drive wheel is provided on the first arc-shaped guide block 62 and / or the second arc-shaped guide block 63. The first movable outer frame 20 rotates relative to the sliding stable clamping seat 18 by the drive wheel contacting the first upper guide groove 64 and the second lower guide groove 65. 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... The first upper guide groove 64 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 ring belt 22 can be extended out of the outside of the first movable outer frame 20 through the through hole 6 31. Then, by driving the rotation of the first left roller 34 and / or the second right roller and / or the top roller 33, the ring belt 22 is rotated 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 rotate from the first receiving groove 25 into the movable inner groove 53. Finally, the number of clamping and positioning parts of the shaft is increased from 4 to 8. Then, the movable stabilizing clamp 18 and the second inner support assembly 21 clamp together, so as to better clamp the shaft workpiece to be processed and improve the processing accuracy of the shaft workpiece.

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

[0062] In addition, in order to fix the shaft parts after the second inner support assembly 21 is used in conjunction with the movable stabilizing clamp 18, it is also possible to reduce the speed difference generated when switching between the two spindles, that is, to achieve the function of embodiment 1, that is, to return to the first receiving groove 25, so that 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 provided with movable slide grooves that can change position. The movable slide grooves can slide away or towards the center of the annular groove one or the annular groove two, so that the second inner support assembly 21, which has been clamped to be processed, can return to the first receiving groove 25.

[0063] Specifically, such as Figure 17 As shown, the front plate groove 66 and the rear plate groove 67 have the same structure. The front plate groove 66 located between the first and second slide grooves, the front plate groove 66 located between the second and third slide grooves, the front plate groove 66 located between the third and fourth slide grooves, and the front plate groove 66 located between the fourth slide groove and the first slide groove all have the same structure, each including a fixed groove 74 located in the middle. On both sides of the fixed groove 74, there are movable groove one 77 and movable groove two 78 respectively. The movable groove one 77 is disposed on the movable groove block one 75. The second movable groove 78 is disposed on the second movable groove block 76. Both the first movable groove block 75 and the second movable groove block 76 are driven by telescopic drive cylinders (not shown in the figure). There is a gap between the first movable groove 77 and the second sliding groove 55, and there is a gap between the second movable groove 78 and the third sliding groove 56, so that docking can be convenient. In addition, in order to prevent the first movable outer frame 20 from sliding out of the sliding groove, the length of the first arc-shaped guide block 62 and / or the second arc-shaped guide block 63 is greater than the gap to prevent sliding out.

[0064] To facilitate understanding of the technical solution of this invention by those skilled in the art, the operating principle of the nine-axis five-linkage CNC machine tool of this application is explained as follows: After machining the shaft-like part to be machined, which is clamped in the first A-axis rotary fixture assembly 8, using a machining tool, it is necessary to change the second C-axis rotary fixture assembly 13 to clamp the other end of the shaft-like part to be machined. The second inner support assembly 21 of the first A-axis rotary fixture assembly 8 slides outward along the fifth slide groove 60 and the sixth slide groove 61, exposing the second inner support assembly 21 outside the sliding stabilizing clamp 18. This causes the top roller 33 to retract, and the first left roller 34 and the second right roller 35 to extend. Finally, the ring belt 22 changes from a contracted state to an extended state. Then, the ring belt 22 clamps one end of the shaft-like part to be machined. Simultaneously, the sliding stabilizing clamp 18 retracts, and the second inner support assembly 21 clamps one end of the shaft-like part to be machined. Then, through the top shaft 73 or by sliding the second C-axis rotary fixture assembly 13, the other end of the shaft-like part to be machined passes through the sliding second C-axis rotary fixture assembly 13. The rotating clamp assembly 13 is then rotated, causing the second inner support assembly 21 of the sliding second C-axis rotating clamp assembly 13 to change from a retracted state to an extended state. 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, clamping the other end of the shaft part to be processed. Since the shaft part to be processed is clamped by the ring 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 ring belt 22. When adjusting the speed difference, the ring belt of the first A-axis rotating clamp assembly 8 can be kept at rest or rotated in the opposite direction, thereby reducing the rotation speed of the shaft part to be processed. Then, the speed of the ring belt of the second C-axis rotating clamp assembly 13 is slowly adjusted, thereby slowing down the speed difference when exchanging spindles. In addition, the original spindle speed does not need to be decelerated or stopped, thus completing the clamping conversion of the shaft part.

[0065] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope 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 disposed on the machine base (1), the first clamping assembly (2) comprising a first Y-axis slide rail seat (5), a first X-axis slide rail seat (6), a first Z-axis slide rail seat (7), and a first A-axis rotary fixture assembly (8), the second clamping assembly (3) comprising a second V-axis slide rail seat (10), a second W-axis slide rail seat (11), a second U-axis slide rail seat (12), and a second C-axis rotary fixture assembly (13), and the third machining tool assembly (4) comprising a rotary tool holder (71) on which a machining tool (9) is disposed, characterized in that: Both the first A-axis rotary clamp assembly (8) and the second C-axis rotary clamp assembly (13) include a first rotary base (14) and a second rotary clamp assembly (15). The second rotary clamp assembly (15) is rotatably disposed on one side of the first rotary base (14). The second rotary clamp assembly (15) includes a clamp body (16) and a plurality of jaw assemblies (17) slidably disposed within the clamp body (16). The jaw assemblies (17) include a sliding and stabilizing clamp (18) and a movable transition. The clamping assembly (19) includes a second inner support assembly (21) and a ring band (22) surrounding the outside of the second inner support assembly (21). The second inner support assembly (21) is slidably disposed within the sliding stabilizing clamp (18). When the workpiece to be processed is clamped from the first A to the rotary clamping assembly (8) to the second C to the rotary clamping assembly (13), or from the second C to the rotary clamping assembly (13) to the first A to the rotary clamping assembly, the clamping assembly is adjusted accordingly. (8) During clamping, the movable transition clamping component (19) of the first A-axis rotary clamping assembly (8) or the second C-axis rotary clamping assembly (13) clamping one end of the shaft workpiece to be processed slides relative to the sliding stabilizing clamp (18), and the movable transition clamping component (19) replaces the sliding stabilizing clamp (18) to clamp one end of the shaft workpiece to be processed. Subsequently, the movable transition clamping component (19) of the second C-axis rotary clamping assembly (13) or the first A-axis rotary clamping assembly (8) at the other end of the shaft workpiece to be processed... The other end of the shaft workpiece to be processed is clamped by a ring belt (22) surrounding the outside of the second inner support assembly (21), which buffers the speed difference generated by the rotation when the first A-direction rotating clamp assembly (8) or the second C-direction rotating clamp assembly (13) is switched to clamp. After the speeds of the two ring belts (22) are consistent, the movable transition clamping assembly (19) at one end of the shaft workpiece to be processed retracts and exits the clamping. Then, the sliding stabilizing clamp (18) at the other end of the shaft workpiece to be processed clamps the shaft workpiece to be processed. 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 disposed at the upper end of the inner support frame (32). The first left roller (34) is horizontally slidably disposed on one side of the inner support frame (32). The second right roller (35) is horizontally slidably disposed on the other side of the inner support frame (32). The ring belt (22) is wrapped around the outside of the top roller (33), the first left roller (34), and the second right roller (35). The ring belt (22) can switch between a first contracted state and a second extended state. When the movable transition clamping assembly (19) does not clamp the shaft workpiece to be processed, the ring belt (22) is in the first contracted state and is housed inside the sliding stabilizing clamp (18). When the movable transition clamping assembly (19) clamps the shaft workpiece to be processed, the ring belt (22) is in the second extended state and is exposed outside the sliding stabilizing clamp (18).

2. The nine-axis five-linkage CNC machine tool as described in claim 1, 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 extension and retraction of the first left roller (34) is achieved by extending and retracting the first front arc plate (38) and the first rear arc plate (39), the extension and retraction of the second right roller (35) is achieved by extending and retracting the second front arc plate (40) and the second rear arc plate (41), and the extension and retraction of the top roller (33) is achieved by extending and retracting the first vertical plate (36) and the second vertical plate (37).

3. A nine-axis five-linkage CNC machine tool as described in claim 2, characterized in that: The sliding stabilizing clamp (18) includes a sliding seat (23), a workpiece clamping block (24), and a first receiving groove (25). The workpiece clamping block (24) and the first receiving groove (25) are both disposed on one side of the sliding seat (23), and the workpiece clamping block (24) and the first receiving groove (25) are disposed vertically. An upper clamping plate (26) is disposed on one side of the top of the sliding seat (23), and a lower clamping plate (27) is disposed on one side of the bottom of the sliding seat (23). The upper clamping plate (26), the sliding seat (23), and the lower clamping plate (27) together form the first receiving groove (25). The workpiece clamping block (24) is disposed on the upper end of the upper clamping plate (26).

4. A nine-axis five-linkage CNC machine tool as described in claim 3, characterized in that: The movable transition clamping assembly (19) further includes a first movable outer frame (20) disposed 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) disposed on both sides of the connecting plate (30). A sixth slide groove (61) is provided on the inner side of the first side plate (28), and a fifth slide groove (60) is provided on the inner side of the second side plate (29). The inner support frame (32) is respectively provided with a sixth slide groove (61) on the front and rear sides. There is a first guide block (58) and a second guide block (59). The first guide block (58) is slidably disposed in the sixth slide groove (61), and the second guide block (59) is slidably disposed in the fifth slide groove (60). A sliding drive source is provided in the fifth slide groove (60) and / or the sixth slide groove (61) to drive the second inner support component (21) to slide relative to the sliding stable clamp (18). The first movable outer frame (20) is disposed in the first receiving groove (25).

5. A nine-axis five-linkage CNC machine tool as described in claim 1, characterized in that: The clamping body 1 (16) includes a front plate (52), a side wall (49), and a rear plate seat (68). A movable inner groove (53) for the clamping claw assembly 2 (17) to move is formed within the space enclosed by the front plate (52), side wall (49), and rear plate seat (68). A front through hole (51) is provided in the middle of the front plate (52), and a rear through hole (50) is provided in the middle of the rear plate seat (68). The movable inner groove (53) includes an inner circular hole (74), a first sliding groove (54), a second sliding groove (55), a third sliding groove (56), and... The fourth slide (57) extends through the front plate (52) and extends through the first slide (54), the second slide (55), the third slide (56) and the fourth slide (57). A second gripper assembly (17) is slidably disposed in the first slide (54), the second slide (55), the third slide (56) and the fourth slide (57). A sliding drive source capable of driving the second gripper assembly (17) to slide is disposed in the first slide (54), the second slide (55), the third slide (56) and the fourth slide (57).

6. A nine-axis five-linkage CNC machine tool as described in claim 4, characterized in that: The inner support frame (32) further includes a first arc-shaped hole (43), a second arc-shaped hole (44), a first vertical plate groove (45), and a second vertical plate 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 groove (45), and the second vertical plate (37) is inserted into the second vertical plate groove (46).

7. A nine-axis five-linkage CNC machine tool as described in claim 6, characterized in that: A drive motor and / or braking structure are provided on the first left roller (34) and / or the second right roller and / or the top roller (33).

8. A nine-axis five-linkage CNC machine tool as described in claim 7, characterized in that: A through hole (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), and 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), and 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), and the second arc-shaped guide block (63) is embedded in the second lower guide groove (65). A drive wheel is provided on the first arc-shaped guide block (62) and / or the second arc-shaped guide block (63). The first movable outer frame (20) rotates relative to the sliding stable clamp (18) by the drive wheel contacting the first upper guide groove (64) and the second lower guide groove (65). 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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