Five-axis linkage machining equipment

Abstract

The invention relates to the field of machining tools, in particular to five-axis linkage machining equipment which comprises a machine body, a Y-axis transmission mechanism, an X-axis transmission mechanism, a Z-axis transmission mechanism, a C-axis transmission structure, a B-axis transmission structure and a control system, the Y-axis transmission mechanism, the X-axis transmission mechanism and the Z-axis transmission mechanism are all arranged in the machine body, the C-axis transmission structure is arranged on the Y-axis transmission mechanism, and the B-axis transmission structure is arranged on the B-axis transmission mechanism. The B-axis transmission structure is arranged on the Z-axis transmission mechanism, the rotatable B-axis is additionally arranged on the Z-axis and matched with the rotatable C-axis on the workbench, the B-axis adopts a torque servo DD direct drive motor to achieve rotation of a machine head at any angle, and the C-axis adopts an electric control rotating table of a torque servo DD direct drive motor structure, so that rotation of a workpiece at any angle is achieved. The five-axis linkage machining effect is integrally achieved, the blank that vertical and horizontal dual-purpose machining cannot be achieved through single-machine single-spindle equipment in the current market is filled up, the use performance and machining efficiency of a machining center are improved, and cost is saved.

Description

Technical Field

[0001] The present invention relates to the field of processing machine tools, and in particular to a five-axis linkage processing device. Background Art

[0002] With the development of industry, five-axis linkage machining centers are widely used due to their flexibility and precision. A five-axis linkage machining center is an automated machine tool equipped with a program control system, mainly composed of mechanical equipment and a numerical control system. It is equipped with a tool magazine and has an automatic tool change function, enabling continuous processing of multiple processes after a workpiece is clamped once, and can complete processing operations such as drilling, boring, milling, reaming, and tapping.

[0003] Currently, most of the existing CNC machining machines on the market are single independent machining centers or single horizontal machining centers. To achieve vertical and horizontal dual-use machining on a conventional vertical machining center, it is generally achieved by installing a right-angle head on the machine head. However, the right-angle head has problems such as insufficient rigidity, low rotational speed, poor surface finish of the machining surface, unsatisfactory machining effect, and cumbersome assembly.

[0004] Most of the existing five-axis machining centers on the market are three-axis machining centers that achieve five-axis linkage machining by additionally installing a two-axis cradle structure on the workbench. However, the cradle structure is a design of an axis on an axis, which is prone to axial clearance and displacement accuracy deviation during reciprocating motion, and the rotational passability is limited. Workpieces with larger sizes cannot pass through, and heavier workpieces are prone to positioning errors during reciprocating motion due to the inertia principle.

[0005] Therefore, in view of the above problems, the present invention is proposed to fill this defect. Summary of the Invention

[0006] The purpose of the present invention is to provide a five-axis linkage processing device in view of the deficiencies of the prior art. Its structure is scientific. Based on the existing three-axis machining, a rotatable B-axis is additionally added on the Z-axis, and it is combined with a rotatable C-axis on the workbench. The B-axis uses a torque servo DD direct drive motor to achieve the rotation of the machine head at any angle, and the C-axis uses an electronically controlled rotary table with a torque servo DD direct drive motor structure to achieve the rotation of the workpiece at any angle, thereby achieving the effect of five-axis linkage machining as a whole, filling the gap that a single spindle of a single machine tool on the current market cannot achieve vertical and horizontal dual-use machining, improving the performance and processing efficiency of the machining center, and saving equipment costs.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A five-axis linkage machining equipment, comprising a machine body, a Y-axis transmission mechanism, an X-axis transmission mechanism, a Z-axis transmission mechanism, a C-axis transmission structure, a B-axis transmission structure, and a control system, characterized in that: machine table doors are arranged around the machine body, a tool magazine is arranged on the left side of the machine body, a suspended control box is on the right side, a control electrical box is arranged on the back of the machine body, a chip discharge port extending to the rear is arranged at the bottom of the machine body, an oil mist collection port is arranged at the top of the machine body, the Y-axis transmission mechanism, the X-axis transmission mechanism, and the Z-axis transmission mechanism are all arranged inside the machine body, the C-axis transmission structure is arranged on the Y-axis transmission mechanism, and the B-axis transmission structure is arranged on the Z-axis transmission mechanism;

[0009] The Y-axis transmission mechanism includes a machine base, the tool magazine is fixed on the side of the machine base, two groups of parallel Y-axis slide rail assemblies are arranged on the machine base, a Y-axis grating encoder is arranged on the side of one group of Y-axis slide rail assemblies, a workbench is arranged on the Y-axis slide rail assemblies, a Y-axis transmission motor is further arranged on the machine base between the two groups of Y-axis slide rail assemblies, a Y-axis transmission nut is fixed at the bottom of the workbench, and a Y-axis transmission lead screw is arranged between the Y-axis transmission nut and the Y-axis transmission motor. The C-axis transmission structure is fixed on the workbench and includes an electric control rotary table;

[0010] The X-axis transmission mechanism includes a vertical wall, the vertical wall is a gantry-type large-stroke bridge-type two-way extension structure, the two feet of the vertical wall are fixed on the machine base, three groups of parallel X-axis slide rail assemblies are arranged on the cross beam of the vertical wall, two of which are arranged on the side of the cross beam and the other is arranged on the top surface of the cross beam. An X-axis grating encoder is arranged on the side of the X-axis slide rail assembly on the top surface of the cross beam, and an X-axis transmission motor is further arranged on the cross beam between the two groups of X-axis slide rail assemblies on the side;

[0011] The Z-axis transmission mechanism includes a spindle ram, the spindle ram is arranged on the three groups of X-axis slide rail assemblies on the vertical wall, an X-axis transmission nut is fixed on the back of the spindle ram, and an X-axis transmission lead screw is arranged between the X-axis transmission nut and the X-axis transmission motor. A Z-axis transmission motor is arranged on the top of the spindle ram, two groups of parallel Z-axis slide rail assemblies are arranged on the front side of the spindle ram, a Z-axis grating encoder is arranged on the side of one group of Z-axis slide rail assemblies, a spindle seat is arranged on the Z-axis slide rail assemblies, a Z-axis transmission nut is arranged on the back of the spindle seat, and a Z-axis transmission lead screw is arranged between the Z-axis transmission nut and the Z-axis transmission motor;

[0012] The B-axis transmission structure includes a DD direct drive motor, the DD direct drive motor is arranged at the center position below the spindle seat, the spindle box is fixed on the power output rotating shaft of the DD direct drive motor, the spindle is fixed on the spindle box, the DD direct drive motor is a torque servo motor, and a position encoder and a hydraulic holding brake system are arranged inside the DD direct drive motor.

[0013] Preferably, the workbench is slidably connected to the machine base through a Y-axis slide rail assembly, and the workbench reciprocates back and forth by the power of a Y-axis drive motor.

[0014] Preferably, the spindle ram is slidably connected to the vertical wall through an X-axis slide rail assembly, and the spindle ram reciprocates left and right by the power of an X-axis drive motor.

[0015] Preferably, the spindle base is slidably connected to the spindle ram through a Z-axis slide rail assembly, and the spindle base reciprocates up and down by the power of a Z-axis drive motor.

[0016] Preferably, the Y-axis drive motor, X-axis drive motor, and Z-axis drive motor are all servo motors.

[0017] Preferably, the electric control rotary table on the C-axis drive structure is a torque servo DD direct drive motor, and the rotation angle of the electric control rotary table is 0° to 360°.

[0018] Preferably, the rotation angle of the power output rotating shaft of the DD direct drive motor on the B-axis drive structure is 0° to 360°.

[0019] Preferably, a second tool magazine installation position is further provided on the left side of the vertical wall, and the tool magazine is fixed on the second tool magazine installation position on the left side of the vertical wall.

[0020] Compared with the prior art, the present invention provides a five-axis linkage machining device, which has the following beneficial effects:

[0021] 1. In the present invention, a rotatable B-axis is incorporated into the spindle base on the Z-axis. The B-axis uses a torque servo DD direct drive motor to enable the spindle to complete a right-angle commutation on the spindle base with the original vertical structure, and then the spindle can rotate 360° through the DD direct drive motor, enabling the spindle to achieve arbitrary angle rotation, thereby realizing vertical machining in the vertical state of the spindle and horizontal machining in the horizontal state, and machining at other angles, greatly reducing the equipment purchase cost and usage cost; moreover, the DD direct drive motor is internally provided with a positioning encoder and a hydraulic holding brake system, which can achieve large-load rigid cutting of the B-axis spindle without deviation, with high stability, and also integrates an encoder for closed-loop machining to achieve real-time online detection and intelligent compensation functions, and the machining accuracy is more precise.

[0022] 2. In the present invention, a rotatable B-axis is incorporated into the spindle base on the Z-axis. The B-axis uses a torque servo DD direct drive motor to enable the spindle to rotate 360° on the spindle base, and then cooperates with the rotatable C-axis on the workbench. The C-axis uses a torque servo DD direct drive motor to rotate the workpiece at any angle, realizing specific machining of different positions of the workpiece, and can better match the RTCP tool tip following function of the equipment operating system, and the whole machine realizes five-axis five-linkage high-precision cutting machining.

[0023] 3. The present invention integrates a rotatable B-axis on the spindle seat of the Z-axis, connects the spindle to the torque servo DD direct drive motor on the B-axis through the spindle box, and then connects the DD direct drive motor to the spindle seat. The combination of multiple mechanisms reduces the problem that the current integrated spindle swing head is prone to heating up, reduces the influence of spindle thermal elongation, and while improving the flexibility of the spindle, greatly improves the machining accuracy.

[0024] 4. The X-axis drive mechanism of the present invention adopts a gantry large-stroke bridge-type bidirectional extension structure, which has the advantage of small floor area, can better complete the extreme positions at both ends, and is convenient for the machine head to probe from the side to complete horizontal machining. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 is a schematic diagram of the internal structure of the present invention;

[0027] Figure 3 is a schematic diagram of the Y-axis drive mechanism part of the present invention;

[0028] Figure 4 is a schematic diagram of the X-axis drive mechanism part of the present invention;

[0029] Figure 5 is a schematic diagram of the Z-axis drive mechanism part of the present invention;

[0030] Figure 6 is an exploded schematic diagram of the Z-axis drive mechanism part of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or / several" used herein includes any and all combinations of one or more of the related listed items.

[0033] Embodiment 1:

[0034] Please refer to Figure 1-2, a five-axis linkage machining equipment of the present invention includes: a machine body 1, a Y-axis transmission mechanism 10, an X-axis transmission mechanism 20, a Z-axis transmission mechanism 30, a C-axis transmission structure 40, a B-axis transmission structure 50, and a control system. Machine table doors 2 are arranged around the machine body 1. A tool magazine 5 is arranged on the left side of the machine body 1, and a suspended control box 3 is on the right side. A control electrical box is arranged on the back of the machine body 1. A chip discharge port 6 extending to the back is arranged at the bottom of the machine body 1. An oil mist collection port 7 is arranged at the top of the machine body 1. The Y-axis transmission mechanism 10, the X-axis transmission mechanism 20, and the Z-axis transmission mechanism 30 are all arranged inside the machine body 1. The C-axis transmission structure 40 is arranged on the Y-axis transmission mechanism 10, and the B-axis transmission structure 50 is arranged on the Z-axis transmission mechanism 30;

[0035] Please refer to Figure 3 , the Y-axis transmission mechanism 10 includes a machine base 11. The tool magazine 5 is fixed on the side of the machine base 11. Two groups of parallel Y-axis slide rail assemblies 110 are arranged on the machine base 11. A Y-axis grating encoder 120 is arranged on the side of one group of Y-axis slide rail assemblies 110. A workbench 12 is arranged on the Y-axis slide rail assemblies 110. A Y-axis drive motor 13 is also arranged on the machine base 11 between the two groups of Y-axis slide rail assemblies 110. A Y-axis drive nut 16 is fixed at the bottom of the workbench 12. A Y-axis drive lead screw 15 is arranged between the Y-axis drive nut 16 and the Y-axis drive motor 13. The C-axis transmission structure 40 is fixed on the workbench 12. The C-axis transmission structure 40 includes an electric control rotary table; the Y-axis drive motor 13 is a servo motor. The workbench 12 is slidably connected to the machine base 11 through the Y-axis slide rail assemblies 110. The workbench 12 reciprocates back and forth by the power of the Y-axis drive motor 13. The drive mode of the electric control rotary table on the C-axis transmission structure 40 is servo drive, and the rotation angle of the electric control rotary table is 0° to 360°.

[0036] Through the above structure, the workbench 12 moves back and forth by the power of the Y-axis drive motor 13 of the servo structure, and the displacement distance of the workbench 12 is accurately detected by the Y-axis grating encoder 120, thereby improving the displacement accuracy of the workbench 12 in the Y-axis direction; and cooperating with the electric control rotary table that can rotate 360° on the C-axis, the workpiece is rotated at any angle, which is convenient for the machine head to machine multiple surfaces of the workpiece.

[0037] Embodiment 2:

[0038] Please refer to Figure 4-6, the X-axis drive mechanism 20 includes a vertical wall 21 of a gantry structure. The two feet of the vertical wall 21 are fixed on the machine base 11. There are three groups of parallel X-axis slide rail assemblies 210 arranged on the cross beam of the vertical wall 21. Two of them are arranged on the side of the cross beam, and the other is arranged on the top surface of the cross beam. An X-axis grating encoder 220 is arranged on the side of the X-axis slide rail assembly 210 on the top surface of the cross beam. An X-axis drive motor 22 is also arranged on the cross beam between the two groups of X-axis slide rail assemblies 210 on the side; the X-axis drive motor 22 is a servo motor. The main spindle ram 31 is slidably connected to the vertical wall 21 through the X-axis slide rail assembly 210. The main spindle ram 31 makes a reciprocating movement left and right by the power of the X-axis drive motor 22.

[0039] With the above structure, the X-axis drive mechanism 20 adopts a vertical wall 21 of a gantry-type large-stroke bridge-type two-way extension structure, which not only reduces the floor area of the machine body, but also increases the transfer span of the main spindle seat 33, and can reach the extreme positions at both ends more conveniently, facilitating the head to probe from the side to complete the horizontal machining of the workpiece, achieving the purpose of dual-purpose vertical and horizontal machining, and greatly reducing the equipment purchase cost and use cost; the main spindle ram 31 makes a left and right displacement by the power of the X-axis drive motor 22 of the servo structure, and the displacement distance of the main spindle ram 31 is accurately detected by the X-axis grating encoder 220, thereby improving the displacement accuracy of the main spindle ram 31 in the X-axis direction.

[0040] The Z-axis drive mechanism 30 includes a main spindle ram 31. The main spindle ram 31 is arranged on the three groups of X-axis slide rail assemblies 210 on the vertical wall 21. An X-axis drive nut 24 is fixed on the back of the main spindle ram 31. An X-axis drive lead screw 23 is arranged between the X-axis drive nut 24 and the X-axis drive motor 22. A Z-axis drive motor 32 is arranged on the top of the main spindle ram 31. Two groups of parallel Z-axis slide rail assemblies 310 are arranged on the front side of the main spindle ram 31. A Z-axis grating encoder 320 is arranged on the side of one of the Z-axis slide rail assemblies 310. A main spindle seat 33 is arranged on the Z-axis slide rail assembly 310. A Z-axis drive nut 34 is arranged on the back of the main spindle seat 33. A Z-axis drive lead screw 35 is arranged between the Z-axis drive nut 34 and the Z-axis drive motor 32; the Z-axis drive motor 32 is a servo motor. The main spindle seat 33 is slidably connected to the main spindle ram 31 through the Z-axis slide rail assembly 310. The main spindle seat 33 makes a reciprocating movement up and down by the power of the Z-axis drive motor 32.

[0041] With the above structure, the main spindle seat 33 makes an up and down displacement by the power of the Z-axis drive motor 32 of the servo structure, and the displacement distance of the main spindle seat 33 is accurately detected by the Z-axis grating encoder 320, thereby improving the displacement accuracy of the main spindle seat 33 in the Z-axis direction.

[0042] The B-axis drive structure 50 includes a DD direct drive motor, which is a torque servo motor. The DD direct drive motor is arranged at the central position below the spindle base 33. The spindle box 60 is fixed on the power output rotating shaft of the DD direct drive motor, and the spindle 70 is fixed on the spindle box 60. By integrating a torque servo DD direct drive motor in the form of the B-axis on the spindle base 33 of the Z-axis, the spindle 70 is connected to the DD direct drive motor through the spindle box 60, and then the DD direct drive motor is connected to the spindle base 33. The combination of multiple mechanisms reduces the problem that the current integrated spindle swing head is prone to heat up and heat, reduces the influence of spindle thermal elongation phenomenon, and the problem of reciprocating displacement precision deviation. While improving the flexibility of the spindle, the machining precision is greatly improved.

[0043] The DD direct drive motor on the B-axis drive structure 50 is internally equipped with a positioning encoder and a hydraulic brake system, which can achieve a precision one level higher than that of ordinary servo motors. Also, due to the direct connection method, the positioning error caused by the mechanical structure is reduced, ensuring the process precision. It can achieve large-load rigid cutting of the B-axis spindle without deviation and has high stability. It also integrates an encoder for closed-loop machining to realize the real-time online detection and intelligent compensation function, making the machining precision more accurate. The spindle rotation angle of the DD direct drive motor is 0° to 360°. The spindle 70 is connected to the spindle base 33 through a DD direct drive motor that can rotate 360°, enabling the spindle to rotate at any angle, thereby achieving vertical machining in the vertical state and horizontal machining in the horizontal state, and machining at other angles. Then, in cooperation with the electric control rotary table on the C-axis drive structure 40, the electric control rotary table is a torque servo DD direct drive motor, forming a C-axis that can rotate the workpiece, enabling the workpiece to rotate 0° to 360°, thus realizing five-axis five-linkage to complete specific machining of different positions of the workpiece. It can also take advantage of the fact that the spindle can rotate at any angle, adopt different clamping methods, reserve an avoidance space at the bottom of the workpiece, lower the spindle to the lower side of the workpiece, complete the filling and interpolation machining of the bottom surface of the workpiece, and match the RTCP tool tip following function of the equipment operating system, enabling the whole machine to achieve high-precision machining of any surface with five-axis five-linkage.

[0044] A second tool magazine mounting position 230 is also provided on the left side of the vertical wall 21. The tool magazine 5 can be fixed on the side of the machine base 11, or the tool magazine 5 can be fixed on the second tool magazine mounting position 230 on the left side of the vertical wall 21. These two mounting methods can be selected according to different machining scenarios and requirements. When the tool magazine 5 is fixed on the left side of the machine base 11, the overall size of the equipment can be reduced, and the floor area occupied by the equipment can be reduced. When the tool magazine 5 is fixed on the left side of the vertical wall 21, the X-axis drive mechanism 20 has a larger movement space when moving the spindle ram 31 left and right, improving the passability of the spindle and the workpiece, facilitating the placement of larger workpieces on the workbench 12 for machining. Since the tool magazine 5 fixed on the left side of the vertical wall 21 is not restricted by the passage of the spindle and the workpiece, the number of tools in the tool magazine can also be increased, simultaneously meeting more machining requirements.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A five-axis linkage machining device, comprising: Machine body (1), Y-axis transmission mechanism (10), X-axis transmission mechanism (20), Z-axis transmission mechanism (30), C-axis transmission structure (40), B-axis transmission structure (50), and control system, characterized in that: machine table doors (2) are arranged around the machine body (1), a tool magazine (5) is arranged on the left side of the machine body (1), a suspended control box (3) is arranged on the right side, a control electric box is arranged on the back of the machine body (1), a chip discharge port (6) extending to the back is arranged at the bottom of the machine body (1), an oil mist collection port (7) is arranged at the top of the machine body (1), the Y-axis transmission mechanism (10), X-axis transmission mechanism (20), and Z-axis transmission mechanism (30) are all arranged inside the machine body (1), the C-axis transmission structure (40) is arranged on the Y-axis transmission mechanism (10), and the B-axis transmission structure (50) is arranged on the Z-axis transmission mechanism (30); The Y-axis transmission mechanism (10) includes a machine base (11), the tool magazine (5) is fixed on the side of the machine base (11), two groups of parallel Y-axis slide rail assemblies (110) are arranged on the machine base (11), a Y-axis grating encoder (120) is arranged on the side of one group of Y-axis slide rail assemblies (110), a workbench (12) is arranged on the Y-axis slide rail assemblies (110), a Y-axis transmission motor (13) is also arranged on the machine base (11) between the two groups of Y-axis slide rail assemblies (110), a Y-axis transmission nut (16) is fixed at the bottom of the workbench (12), and a Y-axis transmission lead screw (15) is arranged between the Y-axis transmission nut (16) and the Y-axis transmission motor (13), the C-axis transmission structure (40) is fixed on the workbench (12), and the C-axis transmission structure (40) includes an electric control rotary table; The X-axis transmission mechanism (20) includes a vertical wall (21), the vertical wall (21) is a gantry-type large-stroke bridge-type two-way extension structure, the two feet of the vertical wall (21) are fixed on the machine base (11), three groups of parallel X-axis slide rail assemblies (210) are arranged on the cross beam of the vertical wall (21), two of which are arranged on the side of the cross beam and the other is arranged on the top surface of the cross beam, an X-axis grating encoder (220) is arranged on the side of the X-axis slide rail assembly (210) on the top surface of the cross beam, and an X-axis transmission motor (22) is also arranged on the cross beam between the two groups of X-axis slide rail assemblies (210) on the side; The Z-axis drive mechanism (30) includes a main spindle ram (31). The main spindle ram (31) is arranged on three groups of X-axis slide rail assemblies (210) on the vertical wall (21). An X-axis drive nut (24) is fixed to the back of the main spindle ram (31). An X-axis drive lead screw (23) is arranged between the X-axis drive nut (24) and the X-axis drive motor (22). A Z-axis drive motor (32) is arranged at the top of the main spindle ram (31). Two groups of parallel Z-axis slide rail assemblies (310) are arranged on the front side of the main spindle ram (31). A Z-axis grating encoder (320) is arranged on the side of one group of the Z-axis slide rail assemblies (310). A main spindle base (33) is arranged on the Z-axis slide rail assemblies (310). A Z-axis drive nut (34) is arranged on the back of the main spindle base (33). A Z-axis drive lead screw (35) is arranged between the Z-axis drive nut (34) and the Z-axis drive motor (32). The B-axis drive structure (50) includes a DD direct drive motor. The DD direct drive motor is arranged at the central position below the main spindle base (33). The main spindle box (60) is fixed to the power output rotating shaft of the DD direct drive motor. The main spindle (70) is fixed to the main spindle box (60). The DD direct drive motor is a torque servo motor, and a positioning encoder and a hydraulic brake system are arranged inside the DD direct drive motor.

2. A five-axis linkage machining device according to claim 1, wherein: The workbench (12) is slidably connected to the machine base (11) through a Y-axis slide rail assembly (110). The workbench (12) reciprocates back and forth by the power of a Y-axis drive motor (13).

3. A five-axis linkage machining device according to claim 1, characterized in that: The main spindle ram (31) is slidably connected to the vertical wall (21) through an X-axis slide rail assembly (210). The main spindle ram (31) reciprocates left and right by the power of an X-axis drive motor (22).

4. A five-axis linkage machining device according to claim 1, characterized in that: The main spindle base (33) is slidably connected to the main spindle ram (31) through a Z-axis slide rail assembly (310). The main spindle base (33) reciprocates up and down by the power of a Z-axis drive motor (32).

5. A five-axis linkage machining device according to claim 1, characterized in that: The Y-axis drive motor (13), the X-axis drive motor (22), and the Z-axis drive motor (32) are all servo motors.

6. The five-axis linkage machining equipment according to claim 1, characterized in that: The electric control rotary table on the C-axis drive structure (40) is a torque servo DD direct drive motor, and the rotation angle of the electric control rotary table is 0° to 360°.

7. A five-axis linkage machining device according to claim 1, characterized in that: The rotation angle of the power output rotating shaft of the DD direct drive motor on the B-axis drive structure (50) is 0° to 360°.

8. A five-axis linkage machining device according to claim 1, characterized in that: A second tool magazine mounting position (230) is further arranged on the left side of the vertical wall (21). The tool magazine (5) is fixed to the second tool magazine mounting position (230) on the left side of the vertical wall (21).

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