Movable column vertical type five-axis linkage machining equipment

Abstract

The invention relates to the technical field of numerical control machine tools, and discloses movable column vertical type five-axis linkage machining equipment which comprises a lathe bed and a cradle mechanism, the cradle mechanism comprises a rocking seat, a rocker arm and a rotary table, the machining mechanism comprises a first moving assembly slidably connected with the lathe bed in the third direction, and a torque distribution assembly is arranged at the joint of the rocker arm and a supporting arm. Comprising a main rotating shaft, a plurality of meshing grooves are formed in the outer wall of the main rotating shaft in the axial direction, and a supporting arm is provided with a plurality of wedge blocks corresponding to the meshing grooves; the torque distribution assembly is arranged at the joint of the rocker arm and the supporting arm in the rocker seat, and the multiple meshing grooves are formed in the outer wall of the main rotating shaft of the torque distribution assembly in the axial direction, so that when the rocker arm bears torque, a wedge block on the supporting arm can assist in locking the rocker arm; a uniform torque transmission path can be formed in a stress state, and torque is prevented from being concentrated on a single rotating shaft, so that the torsional rigidity of the cradle mechanism is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of numerically controlled machine tools, and more particularly, to a moving column vertical five-axis linkage machining device. Background Art

[0002] As an important branch of high-end numerically controlled machine tools, five-axis linkage machining centers are widely used in industries such as aerospace, automotive manufacturing, and precision molds. Compared with traditional three-axis or four-axis machine tools, five-axis linkage machining centers can achieve high-efficiency and high-precision machining of complex surfaces by adding two rotating axes. Among them, moving column vertical five-axis linkage machining centers have gradually become the market mainstream due to their strong structural rigidity, large machining space, and convenience for multi-sided machining of large and complex parts. With the continuous improvement of users' requirements for machining accuracy, surface quality, and production efficiency, while ensuring large strokes and high loads, the moving column vertical five-axis linkage structure also poses higher requirements for its stability and dynamic response capabilities. Existing vertical five-axis linkage machining centers generally adopt a cradle-type worktable structure, forming a dual-rotation mechanism of the A-axis (cradle rotation) and the C-axis (turntable rotation), combined with the XYZ axes to form five-axis linkage. However, existing cradles usually use conventional torque motors for direct drive. During actual machining, especially under large-load or high-speed simultaneous cutting conditions, it will cause insufficient torsional rigidity, easily generate fine torsional deformations, directly affecting the positioning accuracy and dynamic stability during machining, and thus reducing the overall machining accuracy and surface quality.

[0003] Therefore, it is necessary to provide a moving column vertical five-axis linkage machining device to solve the problem of insufficient torsional rigidity of existing vertical five-axis linkage machining centers. Summary of the Invention

[0004] The main object of the present invention is to provide a moving column vertical five-axis linkage machining device, aiming to solve the technical problems mentioned in the above background art.

[0005] The present invention adopts the following technical solutions: A moving column vertical five-axis linkage machining device, comprising: A bed and a cradle mechanism, the cradle mechanism includes a rocker seat, a rocker arm, and a turntable. The rocker seat is slidably connected to the bed along a first direction. Support arms extend along a second direction on opposite sides of the rocker seat. The rocker arm is rotatably connected to the rocker seat through the support arms, and the rocker arm rotates about a third direction. The turntable is rotatably installed on the rocker arm; The processing mechanism includes a first moving component slidably connected to the bed body along the third direction. On one side of the first moving component facing the cradle mechanism, there is a second moving component. The second moving component is slidably connected to the first moving component along the second direction, and the second moving component is provided with a processing spindle extending along the second direction. Wherein, a torque distribution component is provided at the connection between the swing arm and the support arm. The torque distribution component includes a main rotating shaft. A plurality of meshing grooves are axially provided on the outer wall of the main rotating shaft. The support arm is provided with a plurality of wedge-shaped blocks corresponding to the meshing grooves. When the swing arm bears torque, the wedge-shaped blocks assist in locking the swing arm.

[0006] Furthermore, the swing base is provided with a U-shaped rotating cavity for accommodating the swing arm. The bottom of the rotating cavity is provided with a compressive inclined surface portion that bulges from the side close to the support arm towards the middle of the rotating cavity.

[0007] Furthermore, the bed body includes a base and a support seat. The base is provided with a first area and a second area. The support seat is arranged on the upper end surface of the base and is located in the second area. A first slide rail group extending along the first direction is installed in the first area. A plurality of first sliders are slidably connected to the first slide rail group. The first sliders are fixedly connected to the swing base. A first moving motor is arranged below the swing base and is used to drive the swing base to move along the first direction.

[0008] Furthermore, a torque motor is embedded in the swing arm. The output shaft of the torque motor is fixedly connected to the turntable. A locking strip is arranged on the periphery of the torque motor and is fixedly connected to the swing arm to tightly hoop the torque motor. A cradle drive motor is arranged on one side of the swing arm. The output end of the cradle drive motor is connected to a backlash elimination gear set, and the backlash elimination gear set is in transmission connection with the swing arm.

[0009] Furthermore, the first moving component includes a second slide rail group extending along the third direction. The second slide rail group is fixedly arranged on the upper end surface of the support seat. A plurality of second sliders are slidably connected to the second slide rail group. The second sliders are fixedly connected to a first moving frame. A second moving motor is installed on the support seat and is used to drive the first moving frame to move along the third direction.

[0010] Further, the second moving component includes a third slide rail group extending in the second direction. The third slide rail group is fixedly arranged on one side of the first moving frame facing the cradle mechanism. A number of third sliders are slidably connected to the third slide rail group. The third sliders are fixedly connected to a second moving frame, and the machining spindle is fixedly connected to the second moving frame; The second moving frame is connected to at least one cylinder. The driving end of the cylinder is fixedly connected to the first moving frame to drive the second moving frame to slide in the second direction.

[0011] Further, the machining spindle includes a spindle drive motor. The spindle drive motor is fixedly connected to the second moving frame. The driving end of the spindle drive motor is connected to a main drive shaft. The main drive shaft extends in the second direction. One end of the main drive shaft away from the spindle drive motor is connected to a shunt gear set. The output shaft of the shunt gear set is connected to a cycloid pinwheel pair. The cycloid pinwheel pair is connected to a floating clamping member, and the floating clamping member is used for fixing a tool.

[0012] Further, a tool rest is arranged on one side of the bed body. The tool rest is fixedly connected to a tool turning motor. The output shaft of the tool turning motor is connected to a tool disc, and at least one tool magazine for accommodating tools is installed on the tool disc; The tool rest is also connected to a tool changing motor. The output shaft of the tool changing motor is connected to a tool changing gripper. The tool changing motor is used to drive the tool changing gripper to grab the tool in the tool magazine and drive the tool changing gripper to align with the machining spindle to complete the tool changing operation for the machining spindle.

[0013] Further, waste material grooves are arranged on opposite sides of the base. The waste material grooves extend in the first direction, and conveying paddles are arranged in the waste material grooves; One end of the waste material groove is provided with a waste material drive motor. The driving end of the waste material drive motor is connected to the conveying paddle.

[0014] Further, a recycling mechanism is further included. The recycling mechanism includes a recycling housing. The recycling housing is arranged at one end of the tool rest, and the recycling housing is provided with a collection port corresponding to the waste material groove; A conveyor belt is arranged in the recycling housing. The conveyor belt is connected to the driving end of a conveyor motor. A number of baffle plates perpendicular to the conveying direction are arranged on the outer wall of the conveyor belt. One end of the recycling housing is tilted to form a waste discharging part, and a waste discharging port is opened in the waste discharging part.

[0015] Beneficial effects: In the present invention, by providing a torque distribution component at the connection between the rocker arm and the support arm of the rocker base, and arranging a plurality of meshing grooves axially along the outer wall of the main rotating shaft of the torque distribution component, when the rocker arm bears torque, the wedge block on the support arm can assist in locking the rocker arm. Based on the multi-point contact characteristic, a uniform torque transmission path can be formed under the force state, avoiding torque concentration on a single rotating shaft, thereby greatly improving the torsional rigidity of the cradle mechanism and ensuring that the rotational accuracy of the rocker arm is more stable during high-load cutting or high-speed linkage machining; in addition, the rocker arm in the cradle mechanism enables the turntable to be installed more firmly, further improving the overall rigidity of the rotating component; combined with the cradle mechanism sliding along the first direction, the first moving component sliding along the third direction, the second moving component sliding along the second direction, and carrying a machining spindle extending along the second direction, the position of the spindle can be flexibly adjusted to meet the requirements of complex surface machining. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the overall structural schematic diagram of a moving-column vertical five-axis linkage machining equipment of the present invention; Figure 2 is the partial structural schematic diagram of an embodiment of the present invention; Figure 3 is Figure 2 the partial enlarged schematic diagram at A in Figure 4 is Figure 2 the partial enlarged schematic diagram at B in Figure 5 is the side structural schematic diagram of a moving-column vertical five-axis linkage machining equipment of the present invention; Figure 6 is Figure 5 the partial enlarged schematic diagram at C in Figure 7 is the back structural schematic diagram of an embodiment of the present invention; Wherein: 1. Bed body; 101. Base; 102. Support seat; 110. First region; 120. Second region; 2. Cradle mechanism; 210. Rocker base; 211. Support arm; 220. Rocker arm; 230. Turntable; 3. Machining mechanism; 310. First moving component; 311. Second slide rail group; 312. Second slider; 313. First moving frame; 320. Second moving component; 321. Third slide rail group; 322. Third slider; 323. Second moving frame; 324. Cylinder; 330. Machining spindle; 331. Spindle drive motor; 332. Main drive shaft; 333. Shunt gear set; 334. Cycloid pinwheel pair; 335. Floating clamping piece; 4. Torque distribution assembly; 41. Main rotating shaft; 42. Meshing groove; 43. Wedge block; 5. Compressive inclined surface; 6. First slide rail group; 7. First slider; 8. Torque motor; 9. Locking bar; 10. Cradle drive motor; 11. Backlash elimination gear set; 12. Tool rest; 13. Tool rotating motor; 14. Tool disc; 15. Tool magazine; 16. Tool changing motor; 17. Tool changing jaw; 18. Scrap groove; 19. Conveyor paddle; 20. Scrap drive motor; 21. Recycling housing; 22. Conveyor motor; 23. Waste discharging part.

[0017] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0021] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may also include the situation where the first and second features are not in direct contact but are in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0022] Referring to Figures 1 to 3 , the present invention provides a moving-column vertical five-axis linkage machining device, comprising: A bed 1 and a cradle mechanism 2, wherein the cradle mechanism 2 includes a rocker base 210, a rocker arm 220 and a turntable 230. The rocker base 210 is slidably connected to the bed 1 along a first direction. Support arms 211 extend along a second direction on opposite sides of the rocker base 210. The rocker arm 220 is rotatably connected to the rocker base 210 through the support arms 211, and the rocker arm 220 rotates about a third direction. The turntable 230 is rotatably mounted on the rocker arm 220; A machining mechanism 3, comprising a first moving component 310 slidably connected to the bed 1 along the third direction. A second moving component 320 is arranged on one side of the first moving component 310 facing the cradle mechanism 2. The second moving component 320 is slidably connected to the first moving component 310 along the second direction, and the second moving component 320 is provided with a machining spindle 330 extending along the second direction; Wherein, a torque distribution component 4 is arranged at the connection between the rocker arm 220 and the support arms 211. The torque distribution component 4 includes a main rotating shaft 41. A plurality of engaging grooves 42 are axially arranged on the outer wall of the main rotating shaft 41. The support arms 211 are provided with a plurality of wedge-shaped blocks 43 corresponding to the engaging grooves 42. When the rocker arm 220 bears torque, the wedge-shaped blocks 43 assist in locking the rocker arm 220.

[0023] In the above embodiment, the bed 1 is taken as the main body, and the bed 1 serves as the bearing platform of the whole equipment, providing stable support for the movement of the cradle mechanism 2 and the processing mechanism 3. The cradle mechanism 2 includes a rocker 210, a rocker arm 220 and a turntable 230, wherein the rocker 210 is connected to the bed 1 by sliding along the first direction, which can be realized by setting a linear guide rail and a ball screw drive system on the bed 1. Support arms 211 extend from the opposite sides of the rocker 210 along the second direction to form a relatively flat U-shape, and the rocker arm 220 is also a U-shaped structure. The support arm 211 serves as the rotation fulcrum of the rocker arm 220, and its rigid design and symmetrical layout provide mechanical support for the rotation of the rocker arm 220 around the third direction. The rocker arm 220 is rotatably connected to the rocker seat 210 through the support arm 211, which depends on the setting of the main shaft 41. The main shaft 41 passes through the support arm 211 and is fixed to the rocker arm 220, so that the rocker arm 220 can rotate around the axis of the main shaft 41, thereby driving the rocker arm 220 and the turntable 230 to adjust the processing angle. The turntable 230 is fixed in the U-shaped recess of the rocker arm 220 through a bearing or a similar rotating mounting method, and its rotational movement further expands the processing freedom of the workpiece.

[0024] The processing mechanism 3 includes a first moving assembly 310 and a second moving assembly 320, and the sliding connection thereof can also be realized by a guide rail and a lead screw system driven by a servo motor. The second moving assembly 320 is arranged on the side of the first moving assembly 310 facing the cradle mechanism 2, and is slidably connected with the first moving assembly 310 along the second direction, so that the processing spindle 330 can be adjusted vertically, and the processing spindle 330 extends along the second direction, and its end directly acts on the workpiece surface by installing a tool or a fixture. By combining the multi-axis motion of the cradle mechanism 2 with the processing mechanism 3, the present device realizes the processing capability of five-axis linkage, and can meet the processing requirements of complex curved surface workpieces.

[0025] The torque distribution assembly 4 includes a main shaft 41, the outer wall of which is provided with a plurality of meshing grooves 42 along the axial direction, and a plurality of wedge blocks 43 corresponding to the meshing grooves 42 are provided on the support arm 211. In order to specifically realize the auxiliary locking rocker arm 220, the main shaft 41 is set as a cylindrical shaft made of high-strength steel, and a plurality of evenly distributed meshing grooves 42 are machined along the axial direction on its outer wall. The cross section of the meshing groove 42 can be trapezoidal or V-shaped, and the surface of the groove wall is heat-treated to improve wear resistance. The support arm 211 is used as a fixed component, and a cavity for accommodating the wedge block 43 is machined in the position near the main shaft 41. The wedge block 43 is made of cemented carbide or a material with a hard coating on the surface, and its shape matches the meshing groove 42. The inclined surface design of the wedge block 43 enables it to slide along the meshing groove 42 when subjected to force and produce an extrusion effect.

[0026] When the rocker arm 220 is subjected to torque during the machining process, for example, due to the reaction force generated by the tool cutting the workpiece, the main shaft 41 will rotate with the rocker arm 220, and the torque will be transmitted to the connection of the support arm 211 through the main shaft 41. At this time, the wedge block 43 is subjected to radial or axial thrust under the action of the torque. Due to the geometric characteristics of its wedge-shaped structure, the wedge block 43 will move along the inclined surface of the meshing groove 42 and gradually embed into the depth of the meshing groove 42. This embedding process increases the contact area between the wedge block 43 and the meshing groove 42, and the friction force increases accordingly, thereby forming a self-locking effect, effectively locking the main shaft 41 and the support arm 211 together, preventing the rocker arm 220 from accidentally rotating or shaking under high load, thereby ensuring machining accuracy. In order to ensure that the wedge block 43 can flexibly respond to torque changes, an elastic element, such as a disc spring or a compression spring, is further arranged between the wedge block 43 and the cavity of the support arm 211. The elastic element slightly pushes the wedge block 43 away from the engagement groove 42 when there is no torque, and allows the wedge block 43 to be quickly embedded under the action of torque, thereby achieving dynamic locking and release.

[0027] In summary, by providing a torque distribution assembly 4 at the connection between the rocker arm 220 and the support arm 211 in the rocker seat 210, and providing a plurality of engagement grooves 42 along the axial direction on the outer wall of the main rotating shaft 41 of the torque distribution assembly 4, when the rocker arm 220 is subjected to torque, the wedge block 43 on the support arm 211 can assist in locking the rocker arm 220, and based on the multi-point contact characteristics, a uniform torque transmission path can be formed under stress to avoid the torque being concentrated on a single rotating shaft, thereby greatly improving the torsional rigidity of the cradle mechanism 2, and ensuring that the rotation accuracy of the rocker arm 220 is more stable during high-load cutting or high-speed linkage processing; in addition, the rocker arm 220 in the cradle mechanism 2 enables the turntable 230 to be installed more firmly, further improving the overall rigidity of the rotating assembly; combined with the cradle mechanism 2 sliding along the first direction, the first movable assembly 310 slides along the third direction, the second movable assembly 320 slides along the second direction, and is equipped with a processing spindle 330 extending along the second direction, so that the spindle can flexibly adjust its position to meet the needs of complex curved surface processing.

[0028] refer to Figure 2 In one embodiment, the rocking seat 210 is provided with a U-shaped rotating chamber, and the rotating chamber is used to accommodate the rocking arm 220. The bottom of the rotating chamber is provided with a pressure-resistant inclined portion 5, and the pressure-resistant inclined portion 5 bulges from the side close to the support arm 211 toward the middle of the rotating chamber.

[0029] In the above embodiment, the rocking seat 210 is slidably connected to the bed body 1 in the first direction. Its main function is to carry the rocker arm 220 and the turntable 230. The U-shaped rotating cavity is for accommodating the rocker arm 220 and providing space for its rotation around the third direction. The width and depth of the rotating cavity need to be set according to the external dimensions of the rocker arm 220 to ensure that the rocker arm 220 can rotate freely in the cavity without interference. The bottom of the rotating cavity is provided with a pressure-resistant inclined surface 5. Specifically, the pressure-resistant inclined surface 5 starts from the side close to the support arm 211 and gradually bulges along the length direction of the rotating cavity, reaching the highest point at the middle of the rotating cavity, forming a smooth inclined surface transition, enhancing the bearing capacity during the processing of the rocking seat 210, thereby ensuring the stability of processing. The bulging structure can be achieved by machining with a CNC milling machine or a grinding machine. The inclined surface angle and height need to be calculated mechanically according to the maximum pressure that the rocker arm 220 may bear during the processing to ensure its pressure resistance.

[0030] Reference Figure 5 , in an example, the bed body 1 includes a base 101 and a support seat 102. The base 101 is provided with a first area 110 and a second area 120. The support seat 102 is arranged on the upper end surface of the base 101, and the support seat 102 is arranged in the second area 120; The first area 110 is installed with a first slide rail group 6 extending in the first direction. A plurality of first sliders 7 are slidably connected to the first slide rail group 6. The first sliders 7 are fixedly connected to the rocking seat 210. A first moving motor is arranged below the rocking seat 210, and the first moving motor is used to drive the rocking seat 210 to move in the first direction.

[0031] In the above embodiment, the first area 110 is the working area of the cradle mechanism 2, and the second area 120 is the moving working area of the processing mechanism 3. The first area 110 is used to install the first slide rail group 6, while the second area 120 carries the support seat 102. The support seat 102 is fixed in the second area 120 on the upper end surface of the base 101, which can be achieved by bolt connection or welding. Its function is to provide height support for the subsequent support arm 211 or turntable 230. The first slide rail group 6 extends in the first direction and is specifically composed of two parallel linear guide rails. The guide rails can be fixed to the reserved installation surface of the first area 110 by bolts to ensure their straightness and parallelism. A plurality of first sliders 7 are slidably connected to the first slide rail group 6, and the friction is reduced by contacting the guide rails through balls or rollers. The number of sliders is determined according to the weight and force requirements of the rocking seat 210 and can be four or more to ensure stability.

[0032] The moving direction of the first slide rail group 6 is towards the processing mechanism 3. The swing seat 210 is fixedly connected to the first slider 7, which is achieved by fastening the top of the slider to the reserved hole position at the bottom of the swing seat 210 with bolts, ensuring that there is no relative displacement between the two during movement. The first moving motor provided below the swing seat 210 is the power source of the cradle. The first moving motor can be a servo motor or a linear motor, and its output shaft is connected to a ball screw or a rack and pinion mechanism through a coupling. The nut of the ball screw or the rack is fixed to the bottom of the swing seat 210. When the motor rotates, the ball screw or the rack converts the rotational motion into a linear motion along the first direction, thereby driving the swing seat 210 to slide along the first slide rail group 6, and the position of the swing seat 210 is adjusted in real time through closed-loop control.

[0033] Reference Figure 2 and Figure 4 In one example, a torque motor 8 is embedded in the swing arm 220. The output shaft of the torque motor 8 is fixedly connected to the turntable 230. A locking strip 9 is arranged on the periphery of the torque motor 8, and the locking strip 9 is fixedly connected to the swing arm 220 to tightly hoop the torque motor 8. A cradle drive motor 10 is arranged on one side of the swing arm 220. The output end of the cradle drive motor 10 is connected to a backlash elimination gear set 11, and the backlash elimination gear set 11 is in transmission connection with the swing arm 220.

[0034] In the above embodiment, a torque motor 8 is embedded in the swing arm 220. Specifically, an installation groove matching the outer shell size of the torque motor 8 is arranged on the swing arm 220 to ensure that the motor fits tightly without obvious shaking after being placed. The output shaft of the torque motor 8 is fixedly connected to the turntable 230, which is achieved by setting a keyway or a flange structure. A keyway or a threaded hole is machined at the end of the output shaft, and corresponding keys or bolt hole positions are provided at the bottom of the turntable 230. During assembly, it is fastened with keys or bolts so that the turntable 230 can directly receive the rotational force of the torque motor 8. The locking strip 9 arranged on the periphery of the torque motor 8 is a metal strip or a ring piece. The inner side fits the motor shell, and the outer side is fixed to the swing arm 220 through bolts or welding, forming a tightening effect after installation, effectively preventing the motor from vibrating or shifting during high-speed operation, thereby ensuring the stability of the rotation of the turntable 230 and the machining accuracy.

[0035] On one side of the rocker arm 220, a cradle drive motor 10 is installed. The swinging of the rocker arm 220 is achieved through the transmission of a backlash-eliminating gear set 11. The cradle drive motor 10 is fixed on the support arm 211, fixed by a bracket or bolts, and its output end is connected to the backlash-eliminating gear set 11, which is composed of multiple gears. A pair of preloaded bevel gears or planetary gears can be set. The backlash is eliminated by adjusting the preload force to ensure the transmission accuracy. The output end of the backlash-eliminating gear set 11 is meshed and connected to the rocker arm 220 through the last-stage gear and the sector gear or rack. When the motor runs, the power is transmitted to the rocker arm 220 through the gear set, causing it to swing around the support point. To improve the transmission efficiency and durability, the gear set needs to be processed by a high-precision gear grinding process. The motor can also be equipped with a reducer to match the swing speed requirements. The turntable 230 is driven by a torque motor 8 and the cradle drive motor 10 controls the swing of the rocker arm 220 to jointly achieve the multi-axis linkage function for complex surface machining.

[0036] Reference Figure 1 and Figure 5 In one example, the first moving component 310 includes a second slide rail group 311 extending along the third direction. The second slide rail group 311 is fixedly arranged on the upper end surface of the support base 102. A plurality of second sliders 312 are slidably connected to the second slide rail group 311. The second sliders 312 are fixedly connected to a first moving frame 313. The support base 102 is provided with a second moving motor for driving the first moving frame 313 to move along the third direction.

[0037] In the above embodiment, the first moving component 310 realizes the precise movement of the first moving frame 313 along the third direction through the cooperation of the second slide rail group 311 and related components. The second slide rail group 311 is fixedly installed on the upper end surface of the support base 102. Specifically, the slide rail base 101 and the support base 102 are tightly combined by bolts or welding, etc., to ensure its stability during the operation of the equipment. The second slide rail group 311 extends along the third direction, and its length and direction are determined by the processing requirements. The surface of the slide rail is precision ground to reduce the friction coefficient and ensure smoothness during sliding. A plurality of second sliders 312 are slidably connected to the second slide rail group 311. They are internally provided with balls or rollers, and the sliding resistance is reduced through the circular movement of the balls. The material of the sliders is mostly high-strength alloy steel. Its bottom fits with the slide rail, and the top is fixedly connected to the first moving frame 313 by bolts. The first moving frame 313 is a load-bearing platform. Its structure takes into account the weight distribution and uniform stress. The material is selected as aluminum alloy or steel to balance light weight and strength.

[0038] The first moving frame 313 is connected to a second moving motor. The second moving motor is installed on the support base 102. The second moving motor provides driving force to push the first moving frame 313 to move along the third direction. It is fixed through a motor bracket. The output shaft of the motor is connected to a transmission mechanism through a coupling or gears. A lead screw transmission is adopted to convert the rotational motion of the motor into the linear motion of the first moving frame 313.

[0039] Reference Figure 1 and Figure 7 In one example, the second moving assembly 320 includes a third slide rail group 321 extending along the second direction. The third slide rail group 321 is fixedly arranged on the side of the first moving frame 313 facing the cradle mechanism 2. A number of third sliders 322 are slidably connected to the third slide rail group 321. The third sliders 322 are fixedly connected to a second moving frame 323. The machining spindle 330 is fixedly connected to the second moving frame 323. The second moving frame 323 is connected to at least one cylinder 324. The driving end of the cylinder 324 is fixedly connected to the first moving frame 313 to drive the second moving frame 323 to slide along the second direction.

[0040] In the above embodiment, the second moving assembly 320 realizes the smooth movement of the second moving frame 323 along the second direction through the third slide rail group 321 and its related components. The third slide rail group 321 extends along the second direction and is fixed on the side of the first moving frame 313 facing the cradle mechanism 2. Its fixing method is to closely combine the slide rail base with the side surface of the first moving frame 313 by bolts or riveting to ensure the stability of bearing lateral force and vibration during the machining process. The first moving frame 313 serves as a carrier, and sufficient space and a flat mounting surface need to be reserved on its side surface. High-strength steel is mostly selected as the material to ensure rigidity. A number of third sliders 322 are slidably connected to the third slide rail group 321. The top of the third sliders 322 is fixedly connected to the second moving frame 323 by screws.

[0041] The driving of the second moving frame 323 is completed by at least one cylinder 324. The driving end of the cylinder 324 is fixed on the first moving frame 313, and the cylinder body of the cylinder 324 is connected to the second moving frame 323. The cylinder 324 drives the lead screw to rotate through an internal motor to convert the rotational motion into a linear thrust. The driving end of the cylinder 324 is connected to the first moving frame 313 through a flange or a bracket, and the fixed end is connected to the second moving frame 323 through a connecting piece. When the cylinder 324 is started, the driving end expands and contracts to push the second moving frame 323 to slide along the second direction of the third slide rail group 321.

[0042] Reference Figure 1 and Figure 6, in one embodiment, the machining spindle 330 includes a spindle drive motor 331, the spindle drive motor 331 is fixedly connected to the second moving frame 323, a main drive shaft 332 is connected to the drive end of the spindle drive motor 331, the main drive shaft 332 extends along the second direction, a split gear set 333 is connected to the end of the main drive shaft 332 away from the spindle drive motor 331, an output shaft of the split gear set 333 is connected to a cycloid pinwheel pair 334, the cycloid pinwheel pair 334 is connected to a floating clamping member 335, and the floating clamping member 335 is used to fix the tool.

[0043] In the above embodiment, the machining spindle 330 realizes the fixation and efficient drive of the tool through the spindle drive motor 331 and its transmission components. The spindle drive motor 331 is fixed on the second moving frame 323, and its base 101 is tightly connected to the reserved installation surface of the second moving frame 323 through bolts to ensure the stability of the motor during high-speed operation. The drive end of the spindle drive motor 331 is connected to the main drive shaft 332, and the main drive shaft 332 extends along the second direction. The connection between the main drive shaft 332 and the motor drive end adopts a coupling or a keyway structure. The coupling can absorb small deviations and transmit the rotational force. The end of the main drive shaft 332 away from the motor is connected to the split gear set 333, which is composed of multiple gears, bevel gears or helical gears. The single rotational force of the main drive shaft 332 is split into multiple output directions through gear meshing, that is, the principle of planetary gears is used to enhance the stability of the spindle.

[0044] The output shaft of the split gear set 333 is connected to the cycloid pinwheel pair 334, which includes a cycloid wheel, a pin tooth housing and an eccentric shaft. The output shaft drives the cycloid wheel to rotate through the eccentric shaft. The cycloid wheel meshes with the pin tooth housing to produce a deceleration effect and at the same time transmits the power to the next stage. The output end of the cycloid pinwheel pair 334 is connected to the floating clamping member 335, which is a structure that can be finely adjusted. A spring is used to enable it to adapt to small deviations when clamping the tool. The clamping part of the floating clamping member 335 may be a tapered sleeve or a chuck, and its inner wall is processed with a high-precision clamping surface. The tool is fixed by tightening a nut or hydraulic pressure. After the tool is installed, the power is transmitted from the spindle drive motor 331 through the main drive shaft 332, the split gear set 333 and the cycloid pinwheel pair 334 to the floating clamping member 335, and finally drives the tool to rotate to complete the machining task.

[0045] Reference Figure 2 and Figure 6 , in one embodiment, a tool rest 12 is provided on one side of the bed body 1, the tool rest 12 is fixedly connected to a tool turning motor 13, an output shaft of the tool turning motor 13 is connected to a tool disc 14, and at least one tool magazine 15 for accommodating tools is installed on the tool disc 14; The tool rest 12 is further connected with a tool changing motor 16. The output shaft of the tool changing motor 16 is connected with a tool changing jaw 17. The tool changing motor 16 is used to drive the tool changing jaw 17 to grab the tool in the tool magazine 15 and drive the tool changing jaw 17 to align with the machining spindle 330, so as to complete the tool changing operation for the machining spindle 330.

[0046] In the above embodiment, the tool rest 12 on one side of the bed body 1 realizes the functions of tool storage and rotation through the tool rotating motor 13 and its related components. The tool rest 12 is fixed on the bed body 1, and its base is connected to the side surface of the bed body 1 by bolts or welding. The tool rotating motor 13 is fixed on the tool rest 12, and its installation position is connected to the top or side surface of the tool rest 12 through a motor base to ensure the stability during the operation of the motor. The output shaft of the tool rotating motor 13 is connected to the tool disc 14. At least one tool magazine 15 is installed on the tool disc 14. The tool magazine 15 is a circumferentially distributed groove or clamping device, and a clamping mechanism, such as a spring clamp or a pneumatic clamp, is machined on the inner wall of each tool magazine 15 for accommodating different types of tools. When the tool disc 14 rotates, the tool rotating motor 13 drives it to rotate, and moves the required tool to the designated position to prepare for the subsequent tool changing operation.

[0047] The tool changing motor 16 on the tool rest 12 realizes the grasping and alignment of the tool through the tool changing jaw 17. The tool changing motor 16 is fixed at another reserved position on the tool rest 12, and its output shaft is connected to the tool changing jaw 17. The grasping end of the jaw is provided with an openable and closable clamping part, and the grasping action is realized through motor drive. After the tool changing motor 16 is started, its output shaft drives the tool changing jaw 17 to move to the position of the tool magazine 15 on the tool disc 14 through a reducer or direct drive. After the jaw aligns with the tool, it clamps and pulls out the tool. Then the tool changing motor 16 continues to rotate or move to align the jaw with the machining spindle 330. The alignment process is assisted by the precise angle control of the motor and an additional positioning sensor. After the floating clamping part 335 of the machining spindle 330 loosens the original tool, the tool changing jaw 17 inserts and loosens the new tool, and the spindle clamping part locks again to complete the tool changing operation.

[0048] Reference Figure 1 In one embodiment, waste material grooves 18 are provided on opposite sides of the base 101. The waste material grooves 18 extend along the first direction, and conveying paddles 19 are arranged in the waste material grooves 18; One end of the waste material groove 18 is provided with a waste material driving motor 20, and the driving end of the waste material driving motor 20 is connected to the conveying paddle 19.

[0049] In the above embodiments, the waste material grooves 18 on the opposite sides of the base 101 automatically clean the processing waste through the conveying paddles 19. The waste material grooves 18 extend in the first direction and are arranged on both sides of the base 101, and are directly machined by grooving on the base 101 or fixed by welding an additional groove body. The length and width of the waste material grooves 18 are set according to the size of the processing area to ensure effective collection of metal chips or scraps generated during the cutting process. The conveying paddles 19 arranged in the grooves are of a spiral structure, and the paddles are arranged in the first direction. Their axles are supported by bearings at one end of the waste material grooves 18, and the bearings are fixed on the groove walls to ensure stability during rotation.

[0050] The waste material driving motor 20 installed at one end of the waste material groove 18 provides power for the conveying paddle 19, is fixed at the end of the waste material groove 18 through a bracket, and its driving end is connected to the axle of the conveying paddle 19. When the waste material driving motor 20 is started, its output shaft rotates to drive the conveying paddle 19 to rotate, and the paddle pushes the waste material in the waste material groove 18 in the first direction to the other end of the groove.

[0051] Reference Figure 2 and Figure 7 In one embodiment, a recycling mechanism is further included. The recycling mechanism includes a recycling housing 21. The recycling housing 21 is arranged at one end of the tool rest 12, and the recycling housing 21 is provided with a collection port corresponding to the waste material groove 18. A conveyor belt is arranged inside the recycling housing 21. The conveyor belt is connected to the driving end of the conveyor motor 22, and a plurality of baffle plates perpendicular to the conveying direction are arranged on the outer wall of the conveyor belt. Among them, one end of the recycling housing 21 is tilted to form a waste discharge part 23, and the waste discharge part 23 is provided with a waste discharge port.

[0052] In the above embodiments, the recycling housing 21 is arranged at the end of the waste material groove 18 away from the waste material driving motor 20, and its position is aligned with the end of the waste material groove 18. The recycling housing 21 is provided with a collection port corresponding to the position of the waste material groove 18. The size of this opening matches the width of the waste material groove 18, and a rubber sealing strip can be installed at the edge of the opening to prevent waste from overflowing. The conveying paddle 19 in the waste material groove 18 pushes the waste material here, and the waste material falls into the recycling housing 21 through the collection port. The conveyor belt arranged inside the recycling housing 21 provides support for the further transportation of the waste material. The conveyor belt is made of wear-resistant rubber or composite material and is supported in the recycling housing 21 by rollers. The two ends of the rollers are fixed on the inner wall of the housing to ensure the stable operation of the conveyor belt.

[0053] The conveyor belt is connected to the driving end of the conveyor motor 22. The conveyor motor 22 is usually installed at the bottom or side of the recycling housing 21. Its driving end is connected to the conveyor belt roller through a chain or a belt. When the motor starts, it drives the conveyor belt to move in a cycle. A number of material blocking plates arranged on the outer wall of the conveyor belt are perpendicular to the conveying direction. The material blocking plates are made of metal or hard plastic and are fixed on the belt surface by riveting or bonding. The height is appropriate to block the waste materials and push them forward. The waste materials are pushed by the material blocking plates to the waste discharging part 23 at the upturned end of the recycling housing 21. Its inclination angle facilitates the waste materials to slide towards the waste discharging port. The waste discharging port is opened at the bottom of the waste discharging part 23 and is connected to an external waste bin. Through the drive of the conveyor belt and the push of the material blocking plates, the waste materials are finally discharged from the waste discharging port, realizing the automatic recycling and centralized treatment of the waste materials and improving the processing efficiency.

[0054] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A moving column vertical five-axis linkage processing equipment, characterized in that: include: A bed body (1) and a cradle mechanism (2), the cradle mechanism (2) comprising a rocking seat (210), a rocking arm (220) and a turntable (230), the rocking seat (210) being slidably connected to the bed body (1) along a first direction, support arms (211) extending along a second direction on opposite sides of the rocking seat (210), the rocking arm (220) being rotatably connected to the rocking seat (210) via the support arms (211), and the rocking arm (220) being rotatably connected to the rocking seat (210), and the rocking arm (220) being rotatable about a third direction, and the turntable (230) being rotatably mounted on the rocking arm (220); The machining mechanism (3) comprises a first movable assembly (310) slidably connected to the bed (1) along a third direction, a second movable assembly (320) being provided on a side of the first movable assembly (310) facing the cradle mechanism (2), the second movable assembly (320) being slidably connected to the first movable assembly (310) along a second direction, and the second movable assembly (320) being provided with a machining spindle (330) extending along the second direction; A torque distribution assembly (4) is provided at the connection between the rocker arm (220) and the support arm (211), the torque distribution assembly (4) comprising a main rotating shaft (41), the outer wall of the main rotating shaft (41) being provided with a plurality of engagement grooves (42) along the axial direction, the support arm (211) being provided with a plurality of wedge blocks (43) corresponding to the engagement grooves (42), and when the rocker arm (220) is subjected to torque, the wedge blocks (43) assist in locking the rocker arm (220).

2. The movable column vertical five-axis linkage processing equipment according to claim 1 is characterized in that: The rocking seat (210) is provided with a U-shaped rotating cavity, the rotating cavity is used to accommodate the rocking arm (220), and the bottom of the rotating cavity is provided with a pressure-resistant inclined surface (5), the pressure-resistant inclined surface (5) bulging from a side close to the support arm (211) toward the middle of the rotating cavity.

3. The movable column vertical five-axis linkage processing equipment according to claim 1 is characterized in that: The bed (1) comprises a base (101) and a support seat (102); the base (101) is provided with a first area (110) and a second area (120); the support seat (102) is arranged on an upper end surface of the base (101), and the support seat (102) is arranged in the second area (120); The first area (110) is provided with a first slide rail group (6) extending along the first direction, the first slide rail group (6) is slidably connected to a plurality of first sliding blocks (7), the first sliding blocks (7) are fixedly connected to the rocking seat (210), a first moving motor is provided below the rocking seat (210), and the first moving motor is used to drive the rocking seat (210) to move along the first direction.

4. The moving column vertical five-axis linkage processing equipment according to claim 1 is characterized in that: The rocker arm (220) is embedded with a torque motor (8), the output shaft of the torque motor (8) is fixedly connected to the turntable (230), a locking strip (9) is provided on the circumference of the torque motor (8), and the locking strip (9) is fixedly connected to the rocker arm (220) to tighten the torque motor (8); A cradle drive motor (10) is provided on one side of the rocker arm (220); an output end of the cradle drive motor (10) is connected to a backlash-eliminating gear set (11); and the backlash-eliminating gear set (11) is drivingly connected to the rocker arm (220).

5. The moving column vertical five-axis linkage processing equipment according to claim 3 is characterized in that: The first moving component (310) comprises a second slide rail group (311) extending along a third direction, the second slide rail group (311) being fixedly arranged on the upper end surface of the support seat (102), the second slide rail group (311) being slidably connected to a plurality of second sliders (312), the second sliders (312) being fixedly connected to a first moving frame (313), the support seat (102) being installed with a second moving motor, the second moving motor being used to drive the first moving frame (313) to move along the third direction.

6. The movable column vertical five-axis linkage processing equipment according to claim 5, characterized in that: The second moving assembly (320) comprises a third slide rail group (321) extending along a second direction, the third slide rail group (321) being fixedly arranged on a side of the first moving frame (313) facing the cradle mechanism (2), the third slide rail group (321) being slidably connected to a plurality of third sliding blocks (322), the third sliding blocks (322) being fixedly connected to the second moving frame (323), and the machining spindle (330) being fixedly connected to the second moving frame (323); The second movable frame (323) is connected to at least one cylinder (324), and a driving end of the cylinder (324) is fixedly connected to the first movable frame (313) to drive the second movable frame (323) to slide along the second direction.

7. The movable column vertical five-axis linkage processing equipment according to claim 6, characterized in that: The machining spindle (330) comprises a spindle drive motor (331), the spindle drive motor (331) is fixedly connected to the second movable frame (323), the driving end of the spindle drive motor (331) is connected to a main drive shaft (332), the main drive shaft (332) extends along the second direction, the end of the main drive shaft (332) away from the spindle drive motor (331) is connected to a diverter gear set (333), the output shaft of the diverter gear set (333) is connected to a cycloidal pinwheel pair (334), the cycloidal pinwheel pair (334) is connected to a floating clamping member (335), and the floating clamping member (335) is used to fix the tool.

8. The moving column vertical five-axis linkage processing equipment according to claim 3 is characterized in that: A tool holder (12) is provided on one side of the bed (1); the tool holder (12) is fixedly connected to a tool rotating motor (13); an output shaft of the tool rotating motor (13) is connected to a tool disc (14); and at least one tool bin (15) for accommodating a tool is mounted on the tool disc (14); The tool holder (12) is also connected to a tool changing motor (16), the output shaft of the tool changing motor (16) is connected to a tool changing clamp (17), and the tool changing motor (16) is used to drive the tool changing clamp (17) to grab the tool in the tool magazine (15), and drive the tool changing clamp (17) to align with the machining spindle (330), so as to complete the tool changing operation on the machining spindle (330).

9. The movable column vertical five-axis linkage processing equipment according to claim 8, characterized in that: Waste troughs (18) are provided on opposite sides of the base (101), the waste troughs (18) are extended along the first direction, and conveying blades (19) are provided in the waste troughs (18); A waste drive motor (20) is provided at one end of the waste trough (18), and a drive end of the waste drive motor (20) is connected to the conveying blade (19).

10. The movable column vertical five-axis linkage processing equipment according to claim 9, characterized in that: It also includes a recycling mechanism, the recycling mechanism including a recycling shell (21), the recycling shell (21) is arranged at one end of the tool holder (12), and the recycling shell (21) is provided with a collection port corresponding to the waste trough (18); A conveyor belt is arranged in the recovery shell (21), the conveyor belt is connected to the driving end of the conveying motor (22), and the outer wall of the conveyor belt is provided with a plurality of material blocking plates perpendicular to the conveying direction, wherein one end of the recovery shell (21) is tilted to be provided with a waste discharge portion (23), and the waste discharge portion (23) is provided with a waste discharge port.

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