End direction positioning device of five-axis linkage machining center

Abstract

The invention relates to the technical field of end direction positioning, and provides an end direction positioning device of a five-axis linkage machining center, which comprises two feeding mechanical arms, a mounting rack and a sequential driving mechanism, and is characterized in that the two feeding mechanical arms are respectively arranged on two sides of the mounting rack; a plurality of sliding frames are fixedly connected to the mounting rack, a sliding groove body is slidably connected to the interior of each sliding frame, an end face adjusting structure is arranged in each sliding groove body, a workpiece fixing structure is arranged on each end face adjusting structure, and the sequential driving mechanism is arranged among the sliding frames and movably arranged on the mounting rack; by means of the technical scheme, the problem that in the prior art, in the process that a five-axis linkage machining center machines a plurality of workpieces in sequence, due to the fact that each workpiece needs to be subjected to machining of a plurality of end faces, a workpiece feeding system needs to reset the workpieces, and continuity is poor in the machining process of the workpieces is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of end - to - end positioning, and more specifically, to an end - to - end positioning device for a five - axis linkage machining center. Background Art

[0002] A five - axis linkage machining center is a special machining center with high technological content, high machining accuracy, and is used for machining workpieces with complex curved surface characteristics. The five - axis machining center has five axes: x, y, z, a, and c. The x - axis, y - axis, z - axis, a - axis, and c - axis form five - axis linkage machining, which is good at machining spatial curved surfaces, special - shaped machining, hollowing machining, drilling, inclined holes, oblique cutting and other workpiece machining operations. By making the machining end face of the workpiece to be machined correspond to the position of the machining axis in turn, the workpiece can be comprehensively machined with only one clamping.

[0003] In the prior art, during the use of a five - axis linkage machining center, the degree of automation is relatively high. The five - axis linkage machining center mainly includes a workbench, a spindle box, a workpiece feeding system, and a numerical control system. The workbench serves as the installation basis of the five - axis linkage machining center and is used to carry and install multiple devices. The spindle box includes a tool driving device and a tool changing system, which are used to make the corresponding tool complete the machining operation on the corresponding end face of the workpiece. The workpiece feeding system is used to clamp the workpiece and move the workpiece in the positions of the x - axis, y - axis, z - axis, a - axis, and c - axis, so that different end faces of the workpiece cooperate with the corresponding tools. The numerical control system programs and controls the driving data of the entire five - axis linkage machining center to make each device of the five - axis linkage machining center work in coordination.

[0004] Because the workpiece feeding system needs to drive the workpiece to move at multiple angles, after the machining operation on the last end face of the workpiece is completed, at this time, both the workpiece feeding system and the workpiece maintain a sufficient machining angle. When the workpiece feeding system is reset and the workpiece is replaced again, the continuity of multiple workpieces during the machining process is poor, and restarting after adjusting the workpiece will also increase the tool replacement frequency. Summary of the Invention

[0005] The present invention provides an end - to - end positioning device for a five - axis linkage machining center, which solves the problem that in the prior art, during the sequential machining of multiple workpieces by a five - axis linkage machining center, because each workpiece needs to be machined on multiple end faces, the workpiece feeding system needs to reset the workpiece, resulting in poor continuity during the machining process of multiple workpieces.

[0006] The technical solution of the present invention is as follows: An end - to - end positioning device for a five - axis linkage machining center includes a loading robotic arm, and the number of the loading robotic arms is set to two. It also includes:

[0007] Installation rack, two of the feeding robotic arms are respectively arranged on both sides of the installation rack, a plurality of sliding frames are fixedly connected to the installation rack, a sliding groove body is slidably connected inside the sliding frame, an end face adjusting structure is arranged inside the sliding groove body, and a workpiece fixing structure is arranged on the end face adjusting structure;

[0008] Sequential driving mechanism, the sequential driving mechanism is arranged between a plurality of the sliding frames, the sequential driving mechanism is movably arranged on the installation rack, and the sequential driving mechanism is used to sequentially drive a plurality of the end face adjusting structures to adjust the position of the workpiece fixing structure.

[0009] In order to adjust the position and angle of the clamped workpiece, further, the end face adjusting structure includes an arc-shaped slide rail, a rotating shaft and a spherical groove. The arc-shaped slide rail is fixedly connected inside the sliding groove body, a sliding seat is slidably connected to the arc-shaped slide rail, the rotating shaft is rotatably connected through the sliding groove body, the center point of the rotating shaft corresponds to the center point of the arc-shaped slide rail, the rotating shaft is fixedly connected to the sliding seat, a spherical groove is formed in the sliding seat, an arc-shaped groove is formed in the spherical groove, a spherical seat is slidably connected to the arc-shaped groove, a fixing rod is fixedly connected to the top of the spherical seat, and a pushing structure is arranged between the fixing rod and the sliding groove body.

[0010] In order to make the fixing rod slide along the inner wall of the arc-shaped chute, further, the pushing structure includes a rotating seat, the rotating seat is arranged on the sliding seat, a driving electric cylinder is arranged on the rotating seat, and the output end of the driving electric cylinder is rotatably connected to the fixing rod through a rotating shaft member.

[0011] In order to clamp the workpiece to be processed, further, the workpiece fixing structure includes a fixing platform and clamping members, the fixing platform is fixedly connected to the top end of the fixing rod, the number of the clamping members is set to be multiple, and a rotating and resetting assembly is arranged between the clamping members and the fixing platform.

[0012] In order to enable the clamping members to stably clamp the workpiece, further, the rotating and resetting assembly includes a rotating member, the rotating member is fixedly connected to the fixing platform, a mounting shaft is rotatably connected to the rotating member, the clamping members are fixedly connected to the mounting shaft, and a clockwork spring is arranged between the rotating member and the mounting shaft.

[0013] In order to sequentially adjust the angles of a plurality of sliding seats, further, the sequential driving mechanism includes a moving chute and a transmission driving belt, the transmission driving belt is transmissionally arranged in the moving chute through a transmission structure, and a friction section is arranged on the outer arc surface of the transmission driving belt. Among them, a friction ring sleeve is fixedly sleeved on the rotating shaft.

[0014] In order to drive the transmission drive belt to move in a cycle, further, the transmission structure includes a transmission shaft and a first driving motor. A plurality of the transmission shafts are rotatably connected in the moving sliding groove. Transmission wheels are arranged on the transmission shafts. The transmission drive belt is transmission-connected between a plurality of the transmission wheels. The first driving motor is arranged on the moving sliding groove, and an output end of the first driving motor is fixedly connected to one of the transmission shafts.

[0015] In order to drive the moving sliding groove to move, further, it further includes a moving slide rail, a transmission lead screw, and a second driving motor. The moving slide rail is fixedly connected to a plurality of the sliding frames. The moving sliding groove is slidably connected to the moving slide rail. The transmission lead screw is rotatably connected to the moving slide rail. The moving sliding groove is in threaded connection with the transmission lead screw. The second driving motor is arranged on the moving slide rail, and an output end of the second driving motor is fixedly connected to the transmission lead screw.

[0016] In order to drive a plurality of sliding groove bodies to move in the sliding frames, further, it further includes a transverse slide rail, a connecting member, a rotating lead screw, and a third driving motor. The transverse slide rails are arranged on both sides of the installation frame. The connecting member is fixedly connected between a plurality of the sliding groove bodies. The connecting member is slidably connected between the two transverse slide rails. The rotating lead screw is rotatably connected to one of the transverse slide rails. The rotating lead screw is in threaded connection with the connecting member. The third driving motor is arranged on one of the transverse slide rails, and an output end of the third driving motor is fixedly connected to the rotating lead screw.

[0017] In order to temporarily place the processed workpieces, further, it further includes a material receiving box, a rotating seat, and a slope-shaped pushing member. The rotating seat is arranged on the inner bottom wall of the sliding frame. A support plate body is rotatably connected to the rotating seat. The material receiving box is fixedly connected to one side of the support plate body. The slope-shaped pushing member is fixedly connected to the other side of the support plate body. The slope-shaped pushing member contacts the sliding groove body.

[0018] The working principle and beneficial effects of the present invention are as follows:

[0019] 1. In the present invention, when multiple workpieces need to be processed in sequence, after the last end face of the workpiece on the workpiece feeding system is processed, the multiple workpieces are sequentially placed in multiple sliding groove bodies, and the multiple sliding groove bodies are pushed to move within the sliding frame, moving the unprocessed workpieces to the side close to the loading manipulator. After determining the final processing angle adjustment of the workpiece by the workpiece feeding system, the sequential driving mechanism is then moved to one of the end face adjustment structures. Through the cooperation of the sequential driving mechanism and the pushing structure, the angle of the workpiece clamped within the workpiece fixing structure is adjusted so that the inclination angle of the clamped workpiece is the same as the inclination angle of the workpiece being processed on the workpiece feeding system. This facilitates the direct replacement of the two workpieces by the loading manipulator and also enables the workpiece feeding system to clamp the unprocessed workpiece in the case of needing position adjustment. At this time, it is not necessary to replace the processing tool on the spindle box, and the new workpiece can be directly processed, effectively improving the continuity of processing multiple workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0021] Figure 1 Structural schematic diagram of the cooperation of the loading manipulator, mounting frame, sliding frame, sliding groove body and receiving box in the present invention;

[0022] Figure 2 Structural schematic diagram of the cooperation of the loading manipulator, mounting frame, sliding frame, sliding groove body and workpiece feeding system in the present invention;

[0023] Figure 3 Partial sectional structural schematic diagram of the cooperation of the mounting frame, sliding frame, sliding groove body, end face adjustment structure and workpiece fixing structure in the present invention;

[0024] Figure 4 Partial sectional structural schematic diagram of the cooperation of the sliding frame, sliding groove body, end face adjustment structure and workpiece fixing structure in the present invention;

[0025] Figure 5 Partial sectional structural schematic diagram of the cooperation of the sliding frame, sliding groove body, driving electric cylinder and fixing rod in the present invention;

[0026] Figure 6 For the present invention Figure 4 Partial enlarged structural schematic diagram at A in;

[0027] Figure 7 For the present invention Figure 4 Partial enlarged structural schematic diagram at A in.

[0028] In the figure: 1. Loading robotic arm; 2. Installation frame; 3. Sliding frame; 4. Sliding trough; 5. Arc-shaped slide rail; 6. Sliding seat; 7. Rotating shaft; 8. Spherical groove; 9. Spherical seat; 10. Fixed rod; 11. Rotating seat; 12. Driving electric cylinder; 13. Rotating shaft component; 14. Fixed platform; 15. Clamping component; 16. Rotating component; 17. Installation shaft; 18. Hairspring; 19. Moving chute; 20. Transmission drive belt; 21. Friction section; 22. Friction ring sleeve; 23. Transmission shaft; 24. First driving motor; 25. Moving slide rail; 26. Transmission lead screw; 27. Second driving motor; 28. Horizontal slide rail; 29. Connecting component; 30. Rotating lead screw; 31. Third driving motor; 32. Receiving box; 33. Rotating seat; 34. Support plate body; 35. Slope-shaped pushing component; 36. Workpiece feeding system. Detailed implementation manner

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of the present invention.

[0030] As Figures 1 to 7 shown, this embodiment proposes an end-direction positioning device for a five-axis linkage machining center, including two loading robotic arms 1. The five-axis linkage machining center is a common complex surface machining device in the prior art and is a well-known prior art device to those skilled in the art. The workpiece feeding system 36 on the five-axis linkage machining center is a prior art device that can automatically clamp workpieces and can complete the clamping and angle adjustment operations of workpieces.

[0031] It further includes an installation rack 2. Two loading manipulators 1 are respectively arranged on both sides of the installation rack 2. A plurality of sliding frames 3 are fixedly connected to the installation rack 2. A sliding groove body 4 is slidably connected inside the sliding frame 3. An end face adjusting structure is arranged inside the sliding groove body 4. The end face adjusting structure includes an arc-shaped slide rail 5, a rotating shaft 7 and a spherical groove 8. An arc-shaped slide rail 5 is fixedly connected inside the sliding groove body 4. A sliding seat 6 is slidably connected to the arc-shaped slide rail 5. A rotating shaft 7 is rotatably connected through the sliding groove body 4. The center point of the rotating shaft 7 corresponds to the center point of the arc-shaped slide rail 5. The rotating shaft 7 is fixedly connected to the sliding seat 6. A spherical groove 8 is opened on the sliding seat 6. An arc-shaped groove is opened inside the spherical groove 8. A spherical seat 9 is slidably connected to the arc-shaped groove. A fixed rod 10 is fixedly connected to the top of the spherical seat 9. A pushing structure is arranged between the fixed rod 10 and the sliding groove body 4. When driving the rotating shaft 7 to rotate, the sliding seat 6 and a plurality of components arranged on the sliding seat 6 slide along the inner wall of the arc-shaped slide rail 5 together. First, the position of the sliding seat 6 is adjusted. And sufficient damping is maintained between the rotating shaft 7 and the sliding groove body 4. After the rotating shaft 7 stops rotating, due to the contact between the rotating shaft 7 and the sliding groove body 4, the rotating shaft 7 will not move randomly, thereby completing the preliminary adjustment of the angle of the clamped workpiece.

[0032] The pushing structure includes a rotating seat 11. A rotating seat 11 is arranged on the sliding seat 6. A driving electric cylinder 12 is arranged on the rotating seat 11. The output end of the driving electric cylinder 12 is rotatably connected to the fixed rod 10 through a rotating shaft member 13. Then, the driving electric cylinder 12 is started to drive the fixed rod 10 and the spherical seat 9 to move together inside the spherical groove 8, so that the spherical seat 9 moves along the inner wall of the arc-shaped groove, making the inclination angle of the workpiece consistent with the inclination angle of the clamped workpiece on the workpiece feeding system 36.

[0033] A workpiece fixing structure is arranged on the end face adjusting structure. The workpiece fixing structure includes a fixed platform 14 and clamping members 15. The fixed platform 14 is fixedly connected to the top end of the fixed rod 10. The number of clamping members 15 is set to be multiple. A rotating reset assembly is arranged between the clamping members 15 and the fixed platform 14. The unprocessed workpiece can be placed at the bottom end of the fixed platform 14, and the plurality of clamping members 15 are in contact with the top end of the workpiece.

[0034] The rotation and reset assembly includes a rotating member 16, which is fixedly connected to the fixed platform 14. An installation shaft 17 is rotatably connected to the rotating member 16, and a clamping member 15 is fixedly connected to the installation shaft 17. A clockwork spring 18 is arranged between the rotating member 16 and the installation shaft 17. To ensure the stable clamping of the workpiece and facilitate the feeding robot arm 1 to directly take out the workpiece from between multiple clamping members 15, the clamping member 15 in the present invention can flip on the rotating member 16 together with the installation shaft 17. During the rotation of the installation shaft 17, the clockwork spring 18 will generate a rotational torque on the installation shaft 17. After the workpiece is taken out, the clockwork spring 18 drives the installation shaft 17 and the clamping member 15 to reset. The clockwork spring 18 can not only prevent the clamping member 15 from moving randomly and ensure the stable clamping of the workpiece by the clamping member 15, but also enable multiple clamping members 15 to reset smoothly after the workpiece is taken out.

[0035] The sequential driving mechanism is arranged between multiple sliding frames 3. The sequential driving mechanism is movably arranged on the installation frame 2 and is used to sequentially drive multiple end face adjustment structures to adjust the position of the workpiece fixing structure. The sequential driving mechanism includes a moving chute 19 and a transmission driving belt 20. A transmission driving belt 20 is arranged in the moving chute 19 through a transmission structure. The transmission structure includes a transmission shaft 23 and a first driving motor 24. A plurality of transmission shafts 23 are rotatably connected in the moving chute 19. Transmission wheels are arranged on the transmission shafts 23, and the transmission driving belt 20 is arranged between multiple transmission wheels in a transmission manner. A first driving motor 24 is arranged on the moving chute 19, and the output end of the first driving motor 24 is fixedly connected to one of the transmission shafts 23. A friction section 21 is arranged on the outer arc surface of the transmission driving belt 20. Among them, a friction ring sleeve 22 is fixedly sleeved on the rotating shaft 7. When it is necessary to drive the rotating shaft 7, the moving chute 19 is moved to the bottom of the corresponding rotating shaft 7, and the first driving motor 24 is started. The transmission driving belt 20 is driven to move cyclically in the moving chute 19 through the transmission shaft 23 and the transmission wheels, so that the friction section 21 area on the transmission driving belt 20 contacts the friction ring sleeve 22, causing the rotating shaft 7 to rotate in the sliding groove. And there is a sufficient distance between the area of the transmission driving belt 20 without the friction section 21 and the friction ring sleeve 22, which is convenient for the transmission driving belt 20 to move between the bottoms of multiple rotating shafts 7.

[0036] It further includes a moving slide rail 25, a transmission lead screw 26 and a second driving motor 27. The moving slide rail 25 is fixedly connected to a plurality of sliding frames 3. The moving chute 19 is slidably connected to the moving slide rail 25. A transmission lead screw 26 is rotatably connected to the moving slide rail 25. The moving chute 19 is threadedly connected to the transmission lead screw 26. The second driving motor 27 is arranged on the moving slide rail 25. The output end of the second driving motor 27 is fixedly connected to the transmission lead screw 26. When it is necessary to drive the moving chute 19 to move horizontally, the second driving motor 27 is started to drive the transmission lead screw 26 to rotate, so that the moving chute 19 moves between a plurality of rotating shafts 7, and the transmission drive belt 20 is moved to the bottom of the corresponding rotating shaft 7.

[0037] It further includes a transverse slide rail 28, a connecting piece 29, a rotating lead screw 30 and a third driving motor 31. Transverse slide rails 28 are arranged on both sides of the installation frame 2. A connecting piece 29 is fixedly connected between a plurality of sliding trough bodies 4. The connecting piece 29 is slidably connected between the two transverse slide rails 28. A rotating lead screw 30 is rotatably connected to one of the transverse slide rails 28. The rotating lead screw 30 is threadedly connected to the connecting piece 29. A third driving motor 31 is arranged on one of the transverse slide rails 28. The output end of the third driving motor 31 is fixedly connected to the rotating lead screw 30. When it is necessary to drive a plurality of sliding trough bodies 4 to move within a plurality of sliding frames 3, the third driving motor 31 is started to drive the rotating lead screw 30 to rotate, so that the connecting piece 29 moves between the two transverse slide rails 28, and the connecting piece 29 drives a plurality of sliding trough bodies 4 to move, and the sliding trough bodies 4 and the clamped workpiece are moved together to an area convenient for the loading robot 1 to operate.

[0038] It further includes a material receiving box 32, a rotating seat 33 and a slope-shaped pushing member 35. A rotating seat 33 is arranged on the inner bottom wall of the sliding frame 3. A support plate body 34 is rotatably connected to the rotating seat 33. The material receiving box 32 is fixedly connected to one side of the support plate body 34. The slope-shaped pushing member 35 is fixedly connected to the other side of the support plate body 34. The slope-shaped pushing member 35 is in contact with the sliding trough body 4. In order to temporarily place the processed workpiece, when the sliding trough body 4 moves towards the workpiece feeding system 36, the sliding trough body 4 contacts the slope-shaped pushing member 35, and pushes the support plate body 34 to move along the center point of the rotating seat 33, turns the material receiving box 32 upwards along the center point of the rotating seat 33, and moves the material receiving box 32 to the upper side of the sliding frame 3, so that the loading robot 1 can transfer the processed workpiece into the material receiving box 32.

[0039] The working principle of the end positioning device of this five-axis linkage machining center:

[0040] First, place multiple unprocessed workpieces on the fixed platform 14, and the workpieces are clamped by multiple clamping members 15. Start the third driving motor 31 to drive the rotating lead screw 30 to rotate, so that the connecting member 29 moves between the two transverse slide rails 28, and the connecting member 29 drives the multiple sliding troughs 4 to move, and move the sliding troughs 4 and the clamped workpieces together to the area convenient for the loading robot 1 to operate;

[0041] Then, when the workpiece feeding system 36 processes the last end face of the workpiece, determine the inclination angle of the workpiece at this time, and then start the second driving motor 27 to drive the transmission lead screw 26 to rotate, so that the moving chute 19 moves between the multiple rotating shafts 7, move the transmission drive belt 20 to the bottom of the corresponding rotating shaft 7, and then start the first driving motor 24, and drive the transmission drive belt 20 to move in a cycle within the moving chute 19 through the transmission shaft 23 and the transmission wheels, so that the friction section 21 area on the transmission drive belt 20 contacts the friction ring sleeve 22, so that the rotating shaft 7 rotates in the sliding groove, and the sliding seat 6 moves along the inner wall of the arc-shaped slide rail 5 to adjust the position of the sliding seat 6. Then start the driving electric cylinder 12 to drive the fixed rod 10 and the spherical seat 9 to move together in the spherical groove 8, so that the spherical seat 9 moves along the inner wall of the arc-shaped groove, so that the inclination angle of the workpiece is consistent with the inclination angle of the workpiece clamped on the workpiece feeding system 36. Then, use the two loading robots 1 to cooperate with each other to exchange the unprocessed workpiece and the processed workpiece, so that the five-axis linkage machining center can continue to perform the machining operation on the next workpiece without adjusting the workpiece feeding system 36 and replacing the tool.

[0042] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An end positioning device for a five-axis linkage machining center, comprising a loading robot arm (1), wherein the number of the loading robot arms (1) is set to two, and characterized in that: Also includes: A mounting frame (2), two loading robot arms (1) are respectively arranged on both sides of the mounting frame (2), a plurality of sliding frames (3) are fixedly connected to the mounting frame (2), a sliding trough (4) is slidably connected in the sliding frame (3), an end face adjustment structure is arranged in the sliding trough (4), and a workpiece fixing structure is arranged on the end face adjustment structure; A sequential driving mechanism is provided between the plurality of sliding frames (3), the sequential driving mechanism is movably provided on the mounting frame (2), and the sequential driving mechanism is used to sequentially drive the plurality of end face adjustment structures to adjust the position of the workpiece fixing structure.

2. The end positioning device of a five-axis linkage machining center according to claim 1 is characterized in that: The end face adjustment structure comprises: An arc-shaped slide rail (5), the arc-shaped slide rail (5) is fixedly connected inside the sliding groove body (4), and a sliding seat (6) is slidably connected to the arc-shaped slide rail (5); A rotating shaft (7), the rotating shaft (7) passes through the sliding groove body (4) and is rotatably connected thereto, the center point of the rotating shaft (7) corresponds to the center point of the arc-shaped sliding rail (5), and the rotating shaft (7) is fixedly connected to the sliding seat (6); A spherical groove (8), the sliding seat (6) is provided with the spherical groove (8), an arc-shaped groove is provided in the spherical groove (8), a spherical seat (9) is slidably connected to the arc-shaped groove, a fixing rod (10) is fixedly connected to the top of the spherical seat (9), and a pushing structure is provided between the fixing rod (10) and the sliding groove body (4).

3. The end positioning device of a five-axis linkage machining center according to claim 2 is characterized in that: The propulsion structure comprises: A rotating seat (11), the sliding seat (6) is provided with the rotating seat (11), the rotating seat (11) is provided with a driving electric cylinder (12), and the output end of the driving electric cylinder (12) is rotatably connected to the fixing rod (10) via a rotating shaft (13).

4. The end positioning device of a five-axis linkage machining center according to claim 3 is characterized in that: The workpiece fixing structure comprises: A fixed platform (14), the fixed platform (14) being fixedly connected to the top end of the fixed rod (10); A clamping member (15), wherein the number of the clamping members (15) is set to be multiple, and a rotation reset component is arranged between the clamping member (15) and the fixed platform (14).

5. The end positioning device of a five-axis linkage machining center according to claim 4 is characterized in that: The rotation reset assembly comprises: A rotating member (16), the rotating member (16) is fixedly connected to the fixed platform (14), a mounting shaft (17) is rotatably connected to the rotating member (16), the clamping member (15) is fixedly connected to the mounting shaft (17), and a spring (18) is provided between the rotating member (16) and the mounting shaft (17).

6. The end positioning device of a five-axis linkage machining center according to claim 5, characterized in that: The sequential driving mechanism comprises: Moving chute (19); A transmission drive belt (20), wherein the transmission drive belt (20) is arranged in the movable slide groove (19) through a transmission structure, and a friction section (21) is arranged on the outer arc surface of the transmission drive belt (20); Wherein, a friction ring sleeve (22) is fixedly mounted on the rotating shaft (7).

7. The end positioning device of a five-axis linkage machining center according to claim 6, characterized in that: The transmission structure comprises: A transmission shaft (23), wherein a plurality of the transmission shafts (23) are rotatably connected in the movable slide groove (19), a transmission wheel is arranged on the transmission shaft (23), and the transmission drive belt (20) is arranged between the plurality of transmission wheels for transmission; A first drive motor (24), the movable slide groove (19) is provided with the first drive motor (24), and the output end of the first drive motor (24) is fixedly connected to one of the transmission shafts (23).

8. The end positioning device of a five-axis linkage machining center according to claim 7, characterized in that: Also includes: A movable slide rail (25), wherein the movable slide rail (25) is fixedly connected to the plurality of sliding frames (3), and the movable slide groove (19) is slidably connected to the movable slide rail (25); A transmission screw (26), the transmission screw (26) is rotatably connected to the movable slide rail (25), and the movable slide groove (19) is threadedly connected to the transmission screw (26); A second drive motor (27), wherein the second drive motor (27) is arranged on the movable slide rail (25), and an output end of the second drive motor (27) is fixedly connected to the transmission lead screw (26).

9. The end positioning device of a five-axis linkage machining center according to claim 8, characterized in that: Also includes: Transverse slide rails (28), the transverse slide rails (28) being arranged on both sides of the mounting frame (2); A connecting member (29), wherein the connecting member (29) is fixedly connected between the plurality of sliding slots (4), and the connecting member (29) is slidably connected between the two transverse slide rails (28); A rotating screw (30), wherein the rotating screw (30) is rotatably connected to one of the transverse slide rails (28), and the rotating screw (30) is threadedly connected to the connecting member (29); A third drive motor (31), wherein the third drive motor (31) is arranged on one of the transverse slide rails (28), and an output end of the third drive motor (31) is fixedly connected to the rotating lead screw (30).

10. The end positioning device of a five-axis linkage machining center according to claim 9, characterized in that: Also includes: A material receiving box (32); A rotating seat (33), the rotating seat (33) is arranged on the inner bottom wall of the sliding frame (3), a supporting plate (34) is rotatably connected to the rotating seat (33), and the material receiving box (32) is fixedly connected to one side of the supporting plate (34); A slope-shaped pushing member (35), wherein the slope-shaped pushing member (35) is fixedly connected to the other side of the supporting plate body (34), and the slope-shaped pushing member (35) is in contact with the sliding groove body (4).

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