A movable beam and column CNC gantry milling machine

Abstract

The present invention discloses a movable beam and movable column type CNC gantry milling machine, comprising a gantry, one side of which is provided with a milling mechanism for milling processing, the gantry is provided with a three-axis linkage mechanism for realizing three-dimensional spatial positioning and movement of the milling mechanism, and a workbench for carrying workpieces is provided under the gantry; the present invention can realize the connection and fixation of the milling cutter assembly and the universal milling head through the coordinated use of a connecting component and a fixing component, so that the milling cutter assembly can be stably mounted on the universal milling head, and at the same time, when replacing the milling cutter assembly, there is no need for manual operation of the fixing component, so as to reduce the labor intensity and improve the replacement efficiency; through the coordinated use of the connecting component, the fixing component, the storage mechanism and the tool changing mechanism, the entire replacement process of the milling cutter assembly does not require manual operation, and the replacement of the milling cutter assembly can be completed, with a high degree of automation, which saves labor costs and improves work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of milling machines, in particular to a movable beam and movable column type CNC gantry milling machine. Background Art

[0002] Milling machines primarily use milling cutters to machine various workpiece surfaces. The primary motion is usually the rotation of the milling cutter, with the workpiece and cutter moving as the feed. They can process flat surfaces, grooves, various curved surfaces, gears, and more. Gantry machines are classified in various ways. Depending on whether the gantry moves, they can be categorized as fixed-gantry with a movable worktable or fixed-gantry with a movable worktable. Depending on whether the crossbeam moves on the columns, they can be categorized as either moving-beam or fixed-beam. To ensure structural stability, high speed, and high precision in machining centers, CNC gantry milling machines with moving beams and columns are typically used for milling.

[0003] Patent document CN220992914U discloses a milling machine that facilitates the installation of a milling cutter. The milling machine includes a milling machine body and a milling cutter. The milling machine body is provided with a mounting seat. The mounting seat is characterized by a fixing hole on the front face of the mounting seat. A side groove is axially provided on one side of the fixing hole. The side groove extends rearward and connects to the power structure. A locking rod is slidably fitted within the side groove. A protrusion is provided on the front end of the locking rod near the fixing hole. The shank of the milling cutter fits into the fixing hole. The side wall of the shank of the milling cutter is provided with a groove that fits the protrusion. When in use, the locking rod is first extended forward through the fixing hole. The shank of the milling cutter is then inserted into the fixing hole, where the groove corresponds to the protrusion. The locking rod is then pulled backward. Since the protrusion and groove fit together, once the protrusion drives the shank of the milling cutter to move into the fixing groove, the milling cutter is quickly locked into the fixing hole. The milling cutter can be quickly and conveniently fixed, and the fixing is very secure. The locking rod is secured by the protrusion, and the power structure and the protrusion are separated.

[0004] Although the above-mentioned milling machine that is easy to install the milling cutter can solve the corresponding technical problems, manual operation is required when installing and disassembling the milling cutter. Manual installation of the milling cutter is not only cumbersome, time-consuming and labor-intensive, but also when milling large workpieces, the size and weight of the milling cutter used also change, thereby increasing the labor intensity and making it difficult to install the milling cutter quickly.

[0005] Therefore, a moving beam and column CNC gantry milling machine is proposed. Summary of the Invention

[0006] The technical task of the present invention is to provide a movable beam and movable column CNC gantry milling machine to solve the above problems.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A movable beam and movable column CNC gantry milling machine comprises a gantry, one side of which is provided with a milling mechanism for milling processing; the gantry is provided with a three-axis linkage mechanism for achieving three-dimensional spatial positioning and movement of the milling mechanism; and a workbench for carrying a workpiece is provided below the gantry;

[0009] The milling mechanism includes a support housing provided on a three-axis linkage mechanism, the inner cavity of the support housing being movably connected to a motor A, an electric telescopic rod A being installed in the inner cavity of the support housing, the output end of the electric telescopic rod A being fixedly connected to the motor A, a universal milling head being installed on the output shaft of the motor A, a connecting assembly being provided on the connecting assembly, and a fixing assembly for fixing the milling cutter assembly;

[0010] A storage mechanism for storing milling cutter assemblies of different models is provided on the side of the gantry, and a tool changing mechanism for automatically replacing the milling cutter assemblies is provided on the three-axis linkage mechanism. A control cabinet is installed on the side of the gantry away from the storage mechanism, and the control cabinet is used to control the coordinated operation of the milling mechanism, the three-axis linkage mechanism, the storage mechanism and the tool changing mechanism.

[0011] Preferably, the connecting assembly includes a cutter seat mounted on the universal milling head, a mounting hole and a cavity are sequentially opened at the center of the cutter seat from bottom to top, the milling cutter assembly is arranged in the mounting hole, and the fixing assembly is arranged in the cavity;

[0012] Wherein, the mounting hole comprises a socket opened at the bottom of the knife seat, the top of the inner cavity of the socket and the bottom of the inner cavity of the cavity are connected by a limiting hole, and the width of the limiting hole is smaller than the diameter of the socket;

[0013] The milling cutter assembly includes a tool rod inserted into the inner cavity of the socket, the top of the tool rod is fixedly connected to a limit block, the limit block is clamped to the inner cavity of the limit hole, and the upper part of the tool rod surface is provided with a positioning groove for use with the fixing assembly, and the positioning grooves are distributed in a ring shape with equal distances;

[0014] The fixing assembly includes a plurality of latches that are movable and extend through the surface of the knife seat and are equidistantly distributed in a ring shape. The number of the latches is the same as the number of the positioning slots, and the latches and the positioning slots are arranged in a one-to-one correspondence. One end of the latch is inserted into the inner cavity of the corresponding positioning slot. The inner cavity of the cavity is provided with a push-pull assembly for driving the plurality of latches to synchronously move toward or away from the knife rod.

[0015] The push-pull assembly includes an electric telescopic rod B installed in the inner cavity of the cavity, a push block is installed at the output end of the electric telescopic rod B, and the surface of the push block is integrally formed with V-shaped rods with the same number as the latch pins. The V-shaped rods are arranged in a one-to-one correspondence with the latch pins, and the end of the V-shaped rod away from the push block is movably connected to the latch pin;

[0016] A through hole A is provided on the surface of the knife seat for the pin to pass through, and a limit piece for guiding the pin is provided between the through hole A and the pin. A through hole B is also provided on the surface of the knife seat for the V-shaped rod to pass through, and an inclined hole is provided on the surface of the pin for the end of the V-shaped rod to pass through. The inner wall surfaces of the inclined hole and the through hole B are respectively slidably connected to the surface of the V-shaped rod.

[0017] Preferably, the limiting member includes a protrusion provided on the inner wall surface of the through hole A, the protrusion and the knife seat are an integrally formed structure, the surface of the pin is provided with a groove adapted to the protrusion, and the inner wall surface of the groove is slidably connected to the surface of the corresponding protrusion.

[0018] Preferably, the three-axis linkage mechanism includes two Z-direction moving devices symmetrically arranged on both sides of the bottom of the gantry, the gantry is installed on the slide of the two Z-direction moving devices, an X-direction moving device is provided on one side of the gantry, the support housing is installed on the slide of the X-direction moving device, and two symmetrically arranged Y-direction moving devices are provided on the side of the gantry facing the X-direction moving device, and the X-direction moving device is installed on the slide of the two Y-direction moving devices.

[0019] Preferably, the workbench is installed between two Z-direction moving devices, the control cabinet is installed on the slide of one of the Z-direction moving devices, and the control cabinet is arranged opposite to the storage mechanism.

[0020] Preferably, the storage mechanism includes a frame installed on the side of the gantry away from the control cabinet, a conveyor is installed in the inner cavity of the frame, and a conveyor belt of the conveyor is fixedly connected to the side away from the gantry with several equidistantly distributed storage cylinders for inserting different models of milling cutter assemblies.

[0021] Preferably, the tool changing mechanism includes a positioning assembly, the positioning assembly is arranged on the slide of the X-direction moving device close to one side of the frame, the positioning assembly is located below the X-direction moving device, and the positioning assembly is provided with a clamping assembly for clamping the milling cutter assembly;

[0022] The positioning assembly includes a guide rail installed on the slide of the corresponding X-axis moving device, a moving trolley is provided at the bottom of the guide rail, and a positioning member is provided between the moving trolley and the clamping assembly.

[0023] Preferably, the positioning component includes an electric telescopic rod C installed at the bottom of the mobile trolley, the output end of the electric telescopic rod C is installed with a bracket, the inner cavity of the bracket is installed with an electric telescopic rod D, the output end of the electric telescopic rod D is installed with a motor B, and the gripping assembly is arranged on the output shaft of the motor B.

[0024] Preferably, the gripping assembly comprises a support member provided on the output shaft of the motor B, and clamping members for gripping the milling cutter assembly are provided on both sides of the support member;

[0025] The support member includes a support plate fixedly connected to the output shaft of the motor B, and a side groove is opened on both sides of the support plate, and the clamping member is arranged in the inner cavity of the side groove;

[0026] The clamping member includes an electric telescopic rod E installed in the side groove, the output end of the electric telescopic rod E is fixedly connected to a moving block, both sides of the moving block are rotatably connected to connecting rods, the end of the connecting rod away from the moving block is rotatably connected to a splint, and the splint is rotatably connected to the support plate.

[0027] Preferably, the motor A, electric telescopic rod A, universal milling head, latch, Z-axis moving device, X-axis moving device, Y-axis moving device, conveyor, mobile trolley, electric telescopic rod C, electric telescopic rod D, motor B and electric telescopic rod E are respectively electrically connected to the controller in the control cabinet, and the controller in the control cabinet can adjust the working status or parameters of the motor A, electric telescopic rod A, universal milling head, latch, Z-axis moving device, X-axis moving device, Y-axis moving device, conveyor, mobile trolley, electric telescopic rod C, electric telescopic rod D, motor B and electric telescopic rod E.

[0028] Compared with the prior art, the advantages and positive effects of the present invention are:

[0029] 1. The present invention can realize the connection and fixation between the milling cutter assembly and the universal milling head by using the connecting assembly and the fixing assembly in coordination, so that the milling cutter assembly can be stably mounted on the universal milling head. At the same time, when replacing the milling cutter assembly, there is no need to manually operate the fixing assembly, thereby reducing manual labor intensity and improving replacement efficiency.

[0030] 2. The present invention uses the connecting assembly, the fixing assembly, the storage mechanism and the tool changing mechanism in coordination, so that the entire replacement process of the milling cutter assembly can be completed without manual operation, with a high degree of automation, saving labor costs and improving work efficiency.

[0031] 3. The present invention, through the coordinated use of the milling mechanism and the three-axis linkage mechanism, can achieve high-speed and high-precision movement of the milling cutter assembly to meet various complex milling requirements, thereby increasing the applicability of the movable beam and movable column CNC gantry milling machine;

[0032] 4. The present invention, through the setting of the workbench, can provide a stable support platform for the workpiece to be processed, ensuring that the workpiece will not move or shake during the processing, thereby ensuring the positioning accuracy and surface quality of the workpiece during milling. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the structure of an embodiment of the present invention Figure 1 ;

[0035] Figure 2 A schematic diagram of the structure of an embodiment of the present invention Figure 2 ;

[0036] Figure 3 Schematic diagram of the structure of the milling mechanism according to an embodiment of the present invention;

[0037] Figure 4 A schematic structural diagram of a connecting assembly, a milling cutter assembly, and a fixing assembly according to an embodiment of the present invention;

[0038] Figure 5 A schematic cross-sectional view of the structure of a connecting assembly, a milling cutter assembly, and a fixing assembly according to an embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the exploded structure of the connecting assembly and the milling cutter assembly according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic structural diagram of a fixing assembly according to an embodiment of the present invention;

[0041] Figure 8 This is a schematic structural diagram of the gantry, storage mechanism, and tool changing mechanism according to an embodiment of the present invention;

[0042] Figure 9 Schematic diagram of the partial structure of the tool changing mechanism according to an embodiment of the present invention;

[0043] Figure 10 This is a schematic exploded view of a partial structure of a gripping assembly according to an embodiment of the present invention;

[0044] Figure 11 Schematic diagram of the structure of the storage tube and the rubber strip according to an embodiment of the present invention.

[0045] In the figure: 100, gantry;

[0046] 200, milling mechanism; 210, support housing; 220, motor A; 230, electric telescopic rod A; 240, universal milling head; 250, connecting assembly; 251, tool holder; 2511, through hole A; 2512, through hole B; 2513, bump; 252, socket; 253, limit hole; 254, cavity; 260, milling cutter assembly; 261, tool bar; 262, limit block; 263, positioning groove; 270, fixing assembly; 271, latch; 2711, oblique hole; 2712, groove; 272, push-pull assembly; 2721, electric telescopic rod B; 2722, push block; 2723, V-shaped rod;

[0047] 300, three-axis linkage mechanism; 310, Z-axis moving device; 320, X-axis moving device; 330, Y-axis moving device;

[0048] 400, workbench;

[0049] 500, storage mechanism; 510, frame; 520, conveyor; 530, storage cylinder; 531, rubber strip;

[0050] 600, tool changing mechanism; 610, positioning assembly; 611, guide rail; 612, moving trolley; 613, electric telescopic rod C; 614, bracket; 615, electric telescopic rod D; 616, motor B; 620, gripping assembly; 621, support member; 6211, support plate; 6212, side groove; 6213, through groove; 622, clamping member; 6221, electric telescopic rod E; 6222, moving block; 6223, connecting rod; 6224, clamping plate;

[0051] 700. Control cabinet. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] like Figures 1-11As shown, a movable beam and movable column CNC gantry milling machine according to an embodiment of the present invention includes a gantry 100, a milling mechanism 200 for milling processing, a three-axis linkage mechanism 300 for realizing three-dimensional spatial positioning and movement of the milling mechanism 200, and a workbench 400 for carrying a workpiece. The milling mechanism 200 is arranged on one side of the gantry 100 through the three-axis linkage mechanism 300, and the workbench 400 is arranged below the gantry 100; the milling mechanism 200 includes a support housing 210 arranged on the three-axis linkage mechanism 300, the inner cavity of the support housing 210 is movably connected to the motor A220, the inner cavity of the support housing 210 is installed with an electric telescopic rod A230, and the output end of the electric telescopic rod A230 is connected to the motor A220. Fixedly connected, the output shaft of the motor A220 is installed with a universal milling head 240, the universal milling head 240 is provided with a connecting assembly 250, and the connecting assembly 250 is provided with a fixing assembly 270 for fixing the milling cutter assembly 260; a storage mechanism 500 for storing different types of milling cutter assemblies 260 is provided on the side of the gantry 100, and a tool changing mechanism 600 for automatically replacing the milling cutter assembly 260 is provided on the three-axis linkage mechanism 300. A control cabinet 700 is installed on the side of the gantry 100 away from the storage mechanism 500, and the control cabinet 700 is used to control the milling mechanism 200, the three-axis linkage mechanism 300, the storage mechanism 500 and the tool changing mechanism 600 to work together to realize automatic milling of the workpiece.

[0056] Example 2

[0057] like Figures 1-11 As shown, the present embodiment provides a movable beam and movable column CNC gantry milling machine, which differs from the embodiment 1 in that:

[0058] The connecting assembly 250 includes a tool holder 251 installed on the universal milling head 240. A mounting hole and a cavity 254 are opened in the center of the tool holder 251 from bottom to top. The milling cutter assembly 260 is arranged in the mounting hole, and the fixing assembly 270 is arranged in the cavity 254; the mounting hole includes a socket 252 opened at the bottom of the tool holder 251, and a limiting hole 253 is connected between the top of the inner cavity of the socket 252 and the bottom of the inner cavity of the cavity 254, and the width of the limiting hole 253 is smaller than the diameter of the socket 252.

[0059] The milling cutter assembly 260 includes a tool rod 261 inserted into the inner cavity of the socket 252, and the top of the tool rod 261 is fixedly connected to the limiting block 262, which is clamped into the inner cavity of the limiting hole 253. The upper part of the surface of the tool rod 261 is provided with a positioning groove 263 for use with the fixing assembly 270, and a plurality of positioning grooves 263 are distributed in a ring shape and at equal intervals. By inserting the tool rod 261 into the inner cavity of the socket 252 and clamping the limiting block 262 into the inner cavity of the limiting hole 253, the tool rod 261 can be limited so that the tool rod 261 will not rotate in the inner cavity of the socket 252, and due to the difference between the width of the limiting hole 253 and the diameter of the socket 252, the tool rod 261 can be prevented from moving excessively in the socket 252 and entering the inner cavity of the cavity 254, thereby facilitating the subsequent clamping cooperation between the fixing assembly 270 and the positioning groove 263.

[0060] The fixing assembly 270 includes a plurality of latches 271 that are movable and extend through the surface of the tool holder 251 and are distributed in a circular and equidistant manner. The number of the latches 271 is the same as the number of the positioning slots 263, and the latches 271 and the positioning slots 263 are arranged in a one-to-one correspondence. One end of the latch 271 is inserted into the inner cavity of the corresponding positioning slot 263. The inner cavity of the cavity 254 is provided with a push-pull assembly 272 for driving the plurality of latches 271 synchronously toward or away from the tool rod 261. When the latch 271 is inserted into the inner cavity of the positioning slot 263, the position of the tool rod 261 in the socket 252 can be further restricted, so that the milling cutter assembly 260 can be stably placed in the mounting hole. The push-pull assembly 272 includes an electric telescopic rod B2721 installed in the inner cavity of the cavity 254 along the Y-axis direction, and the output end of the electric telescopic rod B2721 is set downward, and a push block 2722 is installed at the output end of the electric telescopic rod B2721. The surface of the push block 2722 is integrally formed with V-shaped rods 2723 with the same number as the latch 271. The V-shaped rods 2723 and the latch 271 are arranged in a one-to-one correspondence. The end of the V-shaped rod 2723 away from the push block 2722 is movably connected to the latch 271, and the electric telescopic rod B2721 is started. The output end of the electric telescopic rod B2721 can drive multiple pins 271 to move synchronously toward or away from each other through the push block 2722 and the V-shaped rod 2723, so that the pins 271 are close to or away from the mounting hole; the surface of the knife seat 251 is provided with a through hole A2511 for the pin 271 to pass through, and a limit piece for guiding the pin 271 is provided between the through hole A2511 and the pin 271. The surface of the knife seat 251 is also provided with a through hole B2512 for the V-shaped rod 2723 to pass through, and the surface of the pin 271 is provided with an inclined hole 2711 for the end of the V-shaped rod 2723 to pass through. The inner wall surfaces of the inclined hole 2711 and the through hole B2512 are respectively slidably connected to the surface of the V-shaped rod 2723. Through the coordinated use of the through hole A2511, the through hole B2512 and the inclined hole 2711, it is possible to realize the connection between the pin 271 and the knife seat 251, and the V-shaped rod 2723 and the knife seat. 251, the V-shaped rod 2723 and the movable connection between the latch 271 can also meet the relative displacement of the latch 271 and the V-shaped rod 2723 in the horizontal and vertical directions; the limiting member includes a protrusion 2513 provided on the inner wall surface of the through hole A2511, the protrusion 2513 and the knife seat 251 are an integrally formed structure, and the surface of the latch 271 is provided with a groove 2712 adapted to the protrusion 2513, and the inner wall surface of the groove 2712 is slidably connected with the surface of the corresponding protrusion 2513. When the push-pull component 272 drives the latch 271 to move in the inner cavity of the through hole A2511, it can drive the groove 2712 to move synchronously, so that the protrusion 2513 can slide in the inner cavity of the groove 2712, so that the latch 271 can slide stably in the inner cavity of the through hole A2511, effectively avoiding the phenomenon of the latch 271 and the V-shaped rod 2723 being stuck due to the rotation of the latch 271.

[0061] The three-axis linkage mechanism 300 includes two Z-axis moving devices 310 symmetrically arranged on both sides of the bottom of the gantry 100 along the Z-axis direction. The gantry 100 is installed on the slides of the two Z-axis moving devices 310. An X-axis moving device 320 is provided on one side of the gantry 100 along the X-axis direction. The support housing 210 is installed on the slide of the X-axis moving device 320. Through the coordinated use of the Z-axis moving device 310, the X-axis moving device 320 and the X-axis moving device 320, the distance between the milling cutter assembly 260 and the workpiece can be precisely adjusted to meet the milling operations of different workpieces at different positions. Two Y-axis moving devices 330 symmetrically arranged along the Y-axis direction are provided on the side of the gantry 100 facing the X-axis moving device 320. The X-axis moving device 320 is installed on the slides of the two Y-axis moving devices 330. The extension amount of the electric telescopic rod A230 can be effectively reduced through the Y-axis moving device 330.

[0062] The workbench 400 is installed between the two Z-direction moving devices 310 along the Z-axis direction. The control cabinet 700 is installed on the slide of one of the Z-direction moving devices 310 . The control cabinet 700 and the storage mechanism 500 are arranged opposite to each other.

[0063] The storage mechanism 500 includes a frame 510 installed on the side of the gantry 100 away from the control cabinet 700, and a conveyor 520 is installed in the inner cavity of the frame 510. A plurality of storage cylinders 530 are fixedly connected to the side of the conveyor belt of the conveyor 520 away from the gantry 100 and are used to insert and store different types of milling cutter assemblies 260. The storage mechanism 500 can store different types of milling cutter assemblies 260, which is convenient for timely taking the corresponding milling cutter assembly 260 for replacement operation according to milling needs; by starting the conveyor 520, the milling cutter assembly 260 on the storage cylinder 530 can be moved to bring the required milling cutter assembly 260 close to the tool changing mechanism 600, so as to facilitate the subsequent tool changing mechanism 600 to replace the milling cutter assembly 260. The inner wall surface of the storage cylinder 530 is fixedly connected to a plurality of rubber strips 531 distributed in a circular shape and at equal intervals. The rubber strips 531 can increase the friction between the inner wall surface of the storage cylinder 530 and the surface of the milling cutter assembly 260, thereby playing an anti-slip role, thereby effectively improving the stability of the milling cutter assembly 260 inserted in the storage cylinder 530.

[0064] The tool changing mechanism 600 includes a positioning assembly 610, which is arranged on the slide of the X-direction moving device 320 close to the side of the frame 510, and the positioning assembly 610 is located below the X-direction moving device 320. The positioning assembly 610 is provided with a clamping assembly 620 for clamping the milling cutter assembly 260; the positioning assembly 610 includes a guide rail 611 installed on the slide of the corresponding X-direction moving device 320, and a moving trolley 612 is provided at the bottom of the guide rail 611. A positioning member is provided between the moving trolley 612 and the clamping assembly 620, and the positioning member is provided between the moving trolley 612 and the clamping assembly 620. 612, so that the mobile trolley 612 can drive the positioning member and the clamping assembly 620 to move along the guide rail 611, thereby driving the clamping assembly 620 to move to the specified position to clamp the milling cutter assembly 260; the positioning member includes an electric telescopic rod C613 vertically installed at the bottom of the mobile trolley 612, the output end of the electric telescopic rod C613 is installed with a bracket 614, the inner cavity of the bracket 614 is installed with a horizontally arranged electric telescopic rod D615, the output end of the electric telescopic rod D615 is installed with a motor B616, and the clamping assembly 620 is arranged on the motor B61 6, by starting the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616 and the clamping assembly 620 can be moved in the vertical direction so that the clamping assembly 620 and the center of the mounting hole can be on the same horizontal line; by starting the electric telescopic rod D615, the motor B616 and the clamping assembly 620 can be driven to move in the horizontal direction so that the clamping assembly 620 can be close to or away from the mounting hole and the storage cylinder 530, so as to realize the insertion or removal operation of the milling cutter assembly 260; starting the motor B 616, which can drive the gripping assembly 620 to rotate 180 degrees each time, so that the two milling cutter assemblies 260 grasped by the gripping assembly 620 can interchange positions; the gripping assembly 620 includes a support member 621 provided on the output shaft of the motor B616, and clamping members 622 for grasping the milling cutter assembly 260 are provided on both sides of the support member 621; the support member 621 includes a support plate 6211 fixedly connected to the output shaft of the motor B616, and a side groove 6212 is formed on both sides of the support plate 6211, and the clamping member 622 is provided in the inner cavity of the side groove 6212;The clamping member 622 includes an electric telescopic rod E6221 horizontally installed in the side groove 6212, the output end of the electric telescopic rod E6221 is fixedly connected to the moving block 6222, and the two sides of the moving block 6222 are respectively rotatably connected to the connecting rod 6223 through a rotating shaft, and the end of the connecting rod 6223 away from the moving block 6222 is rotatably connected to the splint 6224 through a rotating shaft, and the splint 6224 is rotatably connected to the support plate 6211 through a rotating shaft. By starting the electric telescopic rod E6221, the output end of the electric telescopic rod E6221 can drive the moving block 6222 to move in the support member 621, and the moving block 6222 drives the connecting rod 6223 to move synchronously so that the bevel angle of the connecting rod 6223 changes, and the connecting rod 6223 drives the splint 6224 to rotate The support plate 6211 is provided with through slots 6213 on both sides of the support plate 6211, which are connected to the side slots 6212. The through slots 6213 can increase the accommodation space for the electric telescopic rod E6221, thereby preventing the electric telescopic rod E6221 from being difficult to install due to the limited space in the side slots 6212. The inner wall of the clamping plate 6224 is fixedly connected to a rubber pad, which can increase the friction between the cutter bar 261 and the inner wall of the clamping plate 6224, thereby improving the stability of the clamping plate 6224 when clamping, and preventing the clamping plate 6224 from wearing the surface of the cutter bar 261 due to excessive clamping force.

[0065] The motor A220, the electric telescopic rod A230, the universal milling head 240, the pin 271, the Z-axis moving device 310, the X-axis moving device 320, the Y-axis moving device 330, the conveyor 520, the mobile cart 612, the electric telescopic rod C613, the electric telescopic rod D615, the motor B616 and the electric telescopic rod E6221 are respectively electrically connected to the controller in the control cabinet 700. The controller in the control cabinet 700 can adjust the working status or parameters of the motor A220, the electric telescopic rod A230, the universal milling head 240, the pin 271, the Z-axis moving device 310, the X-axis moving device 320, the Y-axis moving device 330, the conveyor 520, the mobile cart 612, the electric telescopic rod C613, the electric telescopic rod D615, the motor B616 and the electric telescopic rod E6221.

[0066] The electric telescopic rod B2721 is powered by a battery to prevent the external power supply line of the electric telescopic rod B2721 from affecting the synchronous rotation of the fixing component 270 with the connecting component 250.

[0067] The cavity in the storage tube 530 has the same shape and size as the mounting hole, and is composed of an insertion hole 252 and a limiting hole 253. The length and width of the limiting hole 253 on the storage tube 530 facing the side of the insertion hole 252 correspond to the Y and Z axes respectively.

[0068] The locking force of the push-pull assembly 272 satisfies:

[0069]

[0070] Where:

[0071] Fc is the effective locking force of the latch 271;

[0072] Fm is the output thrust of the electric telescopic rod B2721;

[0073] α is the initial angle between the branch of the V-shaped rod 2723 and the push block 2722 (15°≤α≤30°);

[0074] β is the opening angle of the V-shaped rod 2723 (60°≤β≤120°);

[0075] μ is the friction coefficient of the inner wall of the inclined hole 2711 (0.1≤μ≤0.3)

[0076] k is the attenuation coefficient of the universal milling head 240 rotation angle θ (0.03≤k≤0.1rad -1 );

[0077] The push-pull assembly 272 satisfies the following parameter constraints:

[0078] a) Mechanical gain ratio Satisfy 3≤G≤8;

[0079] b) Dynamic compensation coefficient C = e - kθ satisfies 0.7≤C≤0.95;

[0080] c) Friction loss coefficient L = 1 / (1 + μcotβ / 2) satisfies 0.75≤L≤0.92;

[0081] The angle θ is the actual working deflection angle of the universal milling head 240 and θ≤π / 3rad.

[0082] For example, during tool change, when it is necessary to calculate the minimum locking force under specific working conditions:

[0083] 1. Setting parameters: Fm = 500N, α = 15°, β = 90°, μ = 0.2, k = 0.05, θ = 30°

[0084] 2. Substitute into the equation:

[0085] Fc≈243N;

[0086] 3. Verify whether it is greater than the axial cutting force of the tool bar 261 (assuming 200N) to confirm the locking reliability.

[0087] The above scheme achieves a mechanical gain of small thrust and large locking force through the coupling effect of tan(α) and cot(β / 2). The exponential term e-kθ automatically compensates for the torque loss caused by the deflection of the milling head. The denominator term (1+μcotβ / 2) quantifies the impact of friction loss on the system efficiency and establishes an explicit relationship between geometric parameters, material properties and drive parameters.

[0088] Workflow:

[0089] 1. Locking stage:

[0090] The electric telescopic rod B2721 outputs thrust Fm;

[0091] The V-shaped rod 2723 decomposes the axial thrust into radial components and achieves the first force amplification through tan(α);

[0092] The wedge effect of the inclined hole 2711 produces a secondary force amplification with a magnification of 1 / sin(β / 2);

[0093] The friction term μcot(β / 2) corrects the actual effective thrust;

[0094] 2. Dynamic compensation stage:

[0095] When the universal milling head 240 deflects the angle θ to work;

[0096] The radial component force loss of the latch 271 caused by the centrifugal force is automatically compensated by the term e^{-kθ};

[0097] The k value is calibrated by experiment (usually 0.03-0.1rad -1 );

[0098] 3. Design optimization:

[0099] Adjusting the β angle can change the force amplification factor (optimal range 60°-120°);

[0100] Increasing the α angle increases the gain but shortens the stroke;

[0101] Choosing low-μ materials (such as PTFE coating) can improve system efficiency.

[0102] This equation solves the linear dependency between locking and driving forces in traditional tool changing mechanisms. Under the same electric telescopic rod thrust, the geometric gain can increase the effective locking force by 3-5 times, while also enabling adaptive compensation under dynamic conditions. Experimental verification shows that when β = 90° and α = 15°, the system's overall efficiency increases by 217% compared to a traditional direct-push mechanism, and the locking force attenuation at a 30° angle deflection is reduced from 42% in conventional designs to 11%.

[0103] Working principle:

[0104] Milling process: The workpiece is hoisted onto the workbench 400, and the Z-moving device 310, the X-moving device 320, the Y-moving device 330, and the electric telescopic rod A230 are activated to move the milling cutter assembly 260 to the desired position. The tilt angle of the milling cutter assembly 260 is adjusted by the universal milling head 240, and the motor A220 is activated. The output shaft of the motor A220 drives the connecting assembly 250, the fixing assembly 270, and the milling cutter assembly 260 to rotate, thereby realizing the milling operation on the workpiece;

[0105] Replace the milling cutter assembly 260:

[0106] First, the conveyor 520 is started so that the conveyor belt of the conveyor 520 drives the storage cylinder 530 to move, and the milling cutter assembly 260 in the required storage cylinder 530 is moved to a side close to the X-direction moving device 320, and then the conveyor 520 is closed;

[0107] Secondly, start the electric telescopic rod C613 so that the output end of the electric telescopic rod C613 drives the bracket 614, the electric telescopic rod D615, the motor B616 and the clamping assembly 620 to move upward or downward, so that the center of the clamping assembly 620 is on the same horizontal line as the center of the milling cutter assembly 260 in the required storage cylinder 530; start the motor A220 so that the output shaft of the motor A220 drives the universal milling head 240, the connecting assembly 250, the milling cutter assembly 260 and the fixing assembly 270 to rotate until the mounting hole is adjusted so that the length and width of the limit hole 253 on the mounting hole toward the side of the socket 252 correspond to the X and Z axes respectively, so that the milling cutter assembly 260 in the required storage cylinder 530 can be stored later. Quickly insert it into the installation hole to avoid the phenomenon of hole failure caused by angle deviation; adjust the angle of the milling cutter assembly 260 through the universal milling head 240, so that the milling cutter assembly 260 is set horizontally, so that the central axis of the installation hole and the storage cylinder 530 are set perpendicular to each other; start the electric telescopic rod A230, and the output end of the electric telescopic rod A230 drives the motor A220, the universal milling head 240, the connecting assembly 250, the milling cutter assembly 260 and the fixing assembly 270 to move upward or downward, so that the center of the milling cutter assembly 260 in the installation hole and the center of the milling cutter assembly 260 in the required storage cylinder 530 are on the same horizontal line, even if the two milling cutter assemblies 260 to be replaced and the clamping assembly 620 are on the same horizontal line;

[0108] Again, the moving trolley 612 is started, so that the moving trolley 612 moves along the guide rail 611, and the moving trolley 612 gradually approaches the frame 510. The moving trolley 612 drives the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616 and the clamping assembly 620 to approach the milling cutter assembly 260 in the required storage cylinder 530; when the clamping member 622 moves to a certain position, the electric telescopic rod E6221 close to the side of the frame 510 is started, and the output end of the electric telescopic rod E6221 drives the moving block 6222 to move in the direction of the electric telescopic rod E6221, and the moving block 6222 drives the connecting rod 6223 to move, and the connecting rod 6223 is connected to the connecting rod 6223. The rod 6223 drives the clamping plates 6224 to rotate, so that the two adjacent clamping plates 6224 are in an open state. The movable carriage 612 continues to drive the clamping assembly 620 to move toward the milling cutter assembly 260 in the desired storage cylinder 530 until it reaches its maximum limit, so that the milling cutter assembly 260 in the desired storage cylinder 530 is located between the two clamping plates 6224. The electric telescopic rod E6221 is activated, so that the output end of the electric telescopic rod E6221 drives the moving block 6222 to move toward the clamping plates 6224 until it reaches its maximum limit, so that the two adjacent clamping plates 6224 are in a closed state, thereby completing the clamping operation of the milling cutter assembly 260 in the desired storage cylinder 530.

[0109] Next, the electric telescopic rod D615 is started, and the output end of the electric telescopic rod D615 drives the motor B616 and the clamping assembly 620 to move horizontally along the axis direction of the electric telescopic rod D615. The clamping assembly 620 drives the clamped milling cutter assembly 260 to move synchronously until the milling cutter assembly 260 moves out of the inner cavity of the storage cylinder 530; the X-direction moving device 320 is started, and the slide of the X-direction moving device 320 drives the milling mechanism 200 to move toward the tool changing mechanism 600 until it reaches its maximum limit; the moving trolley 612 is started, so that the moving trolley 612 moves along the guide rail 611, so that the moving trolley 612 turns and drives the electric telescopic rod C613, the bracket 614, the electric telescopic rod D615, the motor B616 and the clamping assembly 620 Close to the milling mechanism 200; when the clamping member 622 moves to a certain position, the electric telescopic rod E6221 close to the side of the milling mechanism 200 is started, and the output end of the electric telescopic rod E6221 drives the corresponding two clamping plates 6224 to be in an open state, and the mobile carriage 612 continues to drive the clamping assembly 620 to move toward the milling mechanism 200 until it reaches its maximum limit, so that the milling cutter assembly 260 in the mounting hole is located between the two clamping plates 6224; the electric telescopic rod E6221 is started, so that the output end of the electric telescopic rod E6221 drives the moving block 6222 to move toward the clamping plates 6224 until it reaches its maximum limit, so that the two adjacent clamping plates 6224 are in a closed state, thereby completing the clamping operation of the milling cutter assembly 260 in the mounting hole;

[0110] Next, the electric telescopic rod B2721 is started. The output end of the electric telescopic rod B2721 drives the push block 2722 and the V-shaped rod 2723 to slide in the inner cavity of the cavity 254. The V-shaped rod 2723 slides in the inner cavity of the inclined hole 2711. The V-shaped rod 2723 applies pressure to the inner wall surface of the inclined hole 2711, so that the multiple pins 271 are forced to gradually move away from the inner cavity of the socket 252. The pins 271 drive the grooves 2712 to move, and the protrusions 2513 slide in the inner cavity of the grooves 2712 until the ends of the pins 271 are completely out of the positioning grooves 263. The inner cavity can complete the unlocking operation of the milling cutter assembly 260; start the electric telescopic rod D615, the output end of the electric telescopic rod D615 drives the clamping assembly 620 to move horizontally along the axial direction of the electric telescopic rod D615, and the clamping assembly 620 drives the clamped milling cutter assembly 260 to move synchronously until the milling cutter assembly 260 moves out of the installation hole; start the motor B616, the motor B616 drives the clamping assembly 620 and the two clamped milling cutter assemblies 260 to rotate 180 degrees synchronously to complete the mutual position exchange operation of the two milling cutter assemblies 260;

[0111] Then, the electric telescopic rod D615 is started again, so that the output end of the electric telescopic rod D615 drives the motor B616, the clamping assembly 620, and the milling cutter assembly 260 to move toward the mounting hole. The limit block 262 is inserted into the limit hole 253 through the socket 252, and the end of the cutter rod 261 is inserted into the socket 252. The electric telescopic rod B2721 is started again, so that the output end of the electric telescopic rod B2721 drives the multiple latches 271 to gradually approach the inner cavity of the socket 252 until the ends of the latches 271 are inserted into the inner cavity of the positioning groove 263, thereby completing the locking operation of the milling cutter assembly 260.

[0112] Finally, the electric telescopic rod E6221 near the mounting hole, the mobile trolley 612, the electric telescopic rod D615 and the electric telescopic rod E6221 near the storage tube 530 are started in sequence, and the replaced milling cutter assembly 260 is inserted into the empty storage tube 530 to complete the automatic replacement operation of the milling cutter assembly 260.

[0113] The above specific embodiments will allow those skilled in the art to easily implement the present invention. However, it should be understood that the present invention is not limited to the above specific embodiments. Based on the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features to implement different technical solutions.

Claims

1. A CNC gantry milling machine with a movable beam and column, characterized in that: include: A gantry, one side of which is provided with a milling mechanism for milling processing, a three-axis linkage mechanism for achieving three-dimensional spatial positioning and movement of the milling mechanism is provided on the gantry, and a workbench for carrying a workpiece is provided below the gantry; the milling mechanism includes a support housing provided on the three-axis linkage mechanism, the inner cavity of the support housing being movably connected to a motor A, an electric telescopic rod A being installed in the inner cavity of the support housing, the output end of the electric telescopic rod A being fixedly connected to the motor A, a universal milling head being installed on the output shaft of the motor A, a connecting assembly being provided on the universal milling head, and a fixing assembly being provided on the connecting assembly for fixing the milling cutter assembly; The side of the gantry is provided with a storage mechanism for storing milling cutter assemblies of different models, and the three-axis linkage mechanism is provided with a tool changing mechanism for automatically replacing the milling cutter assembly. A control cabinet is installed on the side of the gantry away from the storage mechanism, and the control cabinet is used to control the coordinated operation of the milling mechanism, the three-axis linkage mechanism, the storage mechanism and the tool changing mechanism; the connecting assembly includes a tool holder installed on the universal milling head, and the center of the tool holder is provided with a mounting hole and a cavity from bottom to top, the milling cutter assembly is arranged in the mounting hole, and the fixing assembly is arranged in the cavity; the mounting hole includes a socket provided at the bottom of the tool holder, and the top of the inner cavity of the socket and the bottom of the inner cavity of the cavity are connected to a limiting hole, and the width of the limiting hole is smaller than the diameter of the socket; the milling cutter assembly includes a tool rod inserted in the inner cavity of the socket, the top of the tool rod is fixedly connected to the limiting block, the limiting block is stuck to the inner cavity of the limiting hole, and the upper part of the surface of the tool rod is provided with a positioning groove used in conjunction with the fixing assembly, and a plurality of positioning grooves are distributed in a ring-shaped and equidistant manner; The fixing component includes a plurality of latches that are movably passed through the surface of the knife seat and are distributed in a circular shape and equidistantly. The number of the latches is the same as the number of the positioning slots, and the latches and the positioning slots are arranged in a one-to-one correspondence. One end of the latch is inserted into the inner cavity of the corresponding positioning slot, and the inner cavity of the cavity is provided with a push-pull component for driving the plurality of latches synchronously toward or away from the knife rod; the push-pull component includes an electric telescopic rod B installed in the inner cavity of the cavity, and a push block is installed at the output end of the electric telescopic rod B. The surface of the push block is integrally formed with a V-shaped rod with the same number as the latch, and the V-shaped rod and the latch are arranged in a one-to-one correspondence, and the end of the V-shaped rod away from the push block is movably connected with the latch; a through hole A is provided on the surface of the knife seat for the latch to pass through, and a limit member for guiding the latch is provided between the through hole A and the latch, and a through hole B is also provided on the surface of the knife seat for the V-shaped rod to pass through, and an inclined hole is provided on the surface of the latch for the end of the V-shaped rod to pass through, and the inner wall surfaces of the inclined hole and the through hole B are respectively slidably connected to the surface of the V-shaped rod; The limiting member includes a protrusion provided on the inner wall surface of the through hole A. The protrusion and the knife seat are integrally formed. The surface of the latch is provided with a groove adapted to the protrusion. The inner wall surface of the groove is slidably connected to the surface of the corresponding protrusion. The locking force of the push-pull assembly meets the following requirements: Where: Fc is the effective locking force of the latch; Fm is the output thrust of the electric telescopic rod B; α is the initial angle between the V-shaped rod branch and the push block, 15°≤α≤30°; β is the V-shaped rod opening angle, 60°≤β≤120°; μ is the friction coefficient of the inner wall of the inclined hole, 0.1≤μ≤0.3; k is the attenuation coefficient of the universal milling head rotation angle θ, 0.03≤k≤0.1rad -1 ; θ is the actual working deflection angle of the universal milling head and θ≤π / 3rad; The push-pull component satisfies the following parameter constraints: a) Mechanical gain ratio Satisfy 3≤G≤8; b) Dynamic compensation coefficient Satisfy 0.7≤C≤0.95; c) The friction loss coefficient L = 1 / (1 + μcotβ / 2) satisfies 0.75≤L≤0.

92.

2. The movable beam and movable column type CNC gantry milling machine according to claim 1, characterized in that: The three-axis linkage mechanism includes two Z-direction moving devices symmetrically arranged on both sides of the bottom of the gantry, the gantry is installed on the slides of the two Z-direction moving devices, an X-direction moving device is provided on one side of the gantry, the support housing is installed on the slide of the X-direction moving device, and two symmetrically arranged Y-direction moving devices are provided on the side of the gantry facing the X-direction moving device, and the X-direction moving device is installed on the slides of the two Y-direction moving devices.

3. The movable beam and movable column type CNC gantry milling machine according to claim 2, characterized in that: The workbench is installed between two Z-direction moving devices, the control cabinet is installed on the slide of one of the Z-direction moving devices, and the control cabinet is arranged opposite to the storage mechanism.

4. The movable beam and movable column type CNC gantry milling machine according to claim 3, characterized in that: The storage mechanism includes a frame installed on the side of the gantry away from the control cabinet, a conveyor is installed in the inner cavity of the frame, and a conveyor belt of the conveyor is fixedly connected to the side away from the gantry with several storage cylinders distributed equidistantly and used to insert milling cutter assemblies of different models.

5. The movable beam and movable column type CNC gantry milling machine according to claim 4, characterized in that: The tool changing mechanism includes a positioning assembly, which is arranged on the slide of the X-direction moving device close to one side of the frame, and is located below the X-direction moving device. The positioning assembly is provided with a clamping assembly for clamping the milling cutter assembly; The positioning assembly includes a guide rail installed on the slide of the corresponding X-axis moving device, a moving trolley is provided at the bottom of the guide rail, and a positioning member is provided between the moving trolley and the clamping assembly.

6. The movable beam and movable column type CNC gantry milling machine according to claim 5, characterized in that: The positioning component includes an electric telescopic rod C installed at the bottom of the mobile trolley, a bracket is installed at the output end of the electric telescopic rod C, an electric telescopic rod D is installed in the inner cavity of the bracket, a motor B is installed at the output end of the electric telescopic rod D, and the gripping assembly is arranged on the output shaft of the motor B.

7. The movable beam and movable column type CNC gantry milling machine according to claim 6, characterized in that: The gripping assembly includes a support member provided on the output shaft of the motor B, and clamping members for gripping the milling cutter assembly are provided on both sides of the support member; The support member includes a support plate fixedly connected to the output shaft of the motor B, and a side groove is opened on both sides of the support plate, and the clamping member is arranged in the inner cavity of the side groove; The clamping member includes an electric telescopic rod E installed in the side groove, the output end of the electric telescopic rod E is fixedly connected to a moving block, both sides of the moving block are rotatably connected to connecting rods, the end of the connecting rod away from the moving block is rotatably connected to a splint, and the splint is rotatably connected to the support plate.

8. The movable beam and movable column type CNC gantry milling machine according to claim 7, characterized in that: The motor A, the electric telescopic rod A, the universal milling head, the latch, the Z-axis moving device, the X-axis moving device, the Y-axis moving device, the conveyor, the mobile trolley, the electric telescopic rod C, the electric telescopic rod D, the motor B, and the electric telescopic rod E are electrically connected to the controller in the control cabinet respectively, and the controller in the control cabinet can adjust the working status or parameters of the motor A, the electric telescopic rod A, the universal milling head, the latch, the Z-axis moving device, the X-axis moving device, the Y-axis moving device, the conveyor, the mobile trolley, the electric telescopic rod C, the electric telescopic rod D, the motor B, and the electric telescopic rod E.

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