Working method of five-axis linkage machining center

Abstract

The invention relates to the technical field of five-axis linkage machining, in particular to a working method of a five-axis linkage machining center, which mainly comprises the following steps of: A, reading a machining path; b, the machining path is subjected to space decomposition, and paths of the X axis, the Y axis, the Z axis, the A axis and the B axis are formed; and C, according to the path, the X-axis module and the Z-axis module are used for driving the machining mechanism to move along the X-axis path and the Z-axis path correspondingly, the Y-axis module is used for driving the carrier to move along the Y-axis path, the A-axis module is used for controlling the carrier to move along the A-axis path, and the B-axis module is used for controlling the machining mechanism to move along the B-axis path. The machining mechanism is driven by the X-axis module and the Z-axis module, the carrier is driven by the Y-axis module, the situation that in the driving process, due to the fact that the machining mechanism is driven by three axes, the load requirement is high is avoided, and the effect of reducing the cost is achieved; and the X-axis module drives the machining mechanism, and the Y-axis module drives the carrier, so that the driving precision cannot be greatly lost, and most precision requirements can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of five-axis linkage machining, in particular to a working method of a five-axis linkage machining center. BACKGROUND

[0002] The current five-axis linkage machining center is usually applied to CNC cutting, drilling and other machining to improve machining efficiency and reduce labor costs. The current five-axis linkage machining center usually adopts the following two schemes: one is a gantry structure, that is, a gantry is used to install Y-axis, X-axis and Z-axis to control the machining mechanism with B-axis, so that the machining mechanism moves relative to the carrier to achieve high-precision machining effect, which can be specifically referred to as Chinese patent No. CN202420139257.4; the other is to additionally add two-axis structure on the basis of three-axis to achieve low-cost five-axis linkage effect, which can be specifically referred to as Chinese patent No. CN202322824885.4.

[0003] Both of the two schemes use X-axis module and Y-axis module to drive the machining mechanism, the former can ensure precision but has high cost, and the latter has low cost but poor precision.

[0004] Therefore, there is an urgent need for a scheme that can achieve five-axis linkage machining at low cost while ensuring sufficient precision. SUMMARY

[0005] The present application provides a working method of a five-axis linkage machining center to achieve the above-mentioned low cost and high precision machining.

[0006] In order to solve the above technical problems, the present application adopts the following technical scheme: The working method of the five-axis linkage machining center provided by the present application comprises a carrier, a machining mechanism, an X-axis module, a Y-axis module and a Z-axis module, the carrier has an A-axis module, the machining mechanism has a B-axis module, the Z-axis module is installed at the output end of the Z-axis module, the machining mechanism is installed at the output end of the Z-axis module, and the carrier is installed at the output end of the Y-axis module; Further comprising the following steps: A. reading the machining path; B. spatially decomposing the machining path to form the paths of X-axis, Y-axis, Z-axis, A-axis and B-axis; C. according to the paths, driving the machining mechanism to move along the X-axis path and the Z-axis path respectively by using the X-axis module and the Z-axis module, driving the carrier to move along the Y-axis path by using the Y-axis module, controlling the carrier to move along the A-axis path by using the A-axis module, and controlling the machining mechanism to move along the B-axis path by using the B-axis module; D. In the process of performing step C, the product on the carrier is processed by the processing mechanism.

[0007] Further, step B specifically includes: B1. Generating X-axis path, Y-axis path, Z-axis path, A-axis path and B-axis path respectively; B2. Decomposing the X-axis path into multiple X-axis sub-paths according to continuity, and obtaining the length of each X-axis sub-path; B3. Matching the working time for each X-axis sub-path based on the total time length of the processing path; B4. Calculating the acceleration time, constant speed time and deceleration time of the X-axis module on each X-axis sub-path according to the matched working time; B5. Referring to steps B2-B4, respectively calculating each sub-path, each acceleration time, each constant speed time and each deceleration time of Y-axis path, Z-axis path, A-axis path and B-axis path.

[0008] Further, step B4 specifically includes: Obtaining the length L of the X-axis sub-path and the moving time t; Inputting the length L and the moving time t into the model to obtain the maximum speed s, the maximum acceleration a and the acceleration deceleration a' of the X-axis sub-path; According to L, t, s, a, a', the acceleration time, constant speed time and deceleration time are calculated.

[0009] Further, the model is used to perform the following steps: X1. Obtain the rated power of the X-axis module, the weight of the Z-axis module, the weight of the processing mechanism, the additional load generated when the Z-axis module acts, and the additional load when the processing mechanism acts; X2. According to the parameters obtained in X1, the maximum speed s of the X-axis under the rated power is calculated; X3. According to the parameters obtained in X1 and the peak power of the X-axis module, the maximum acceleration a of the X-axis module is calculated; X4. According to the parameters obtained in X1 and the braking force of the X-axis module, the deceleration acceleration a' of the X-axis module is calculated. Further, the five-axis linkage machining center also includes a vision device, which is used to record the actual moving track of the processing mechanism and the carrier; Step B4 further includes: Analyzing the actual moving track of the processing mechanism and the actual moving track of the carrier to determine the error between the actual moving track and the expected moving track, and then calculating the error coefficient according to the error; When performing steps X2-X4, the expected moving track is corrected by using the error coefficient, so that the error degree between the expected moving track and the actual moving track is continuously reduced.

[0010] Further, the lowest height of the machining mechanism is higher than the highest height of the carrier, and the five-axis machining center has a mounting table and a flow guide groove, and the X-axis module is mounted on the top of the mounting table; The flow guide groove includes a first groove body, a second groove body, and a third groove body, the first groove body is located between the mounting table and the Y-axis module, the third groove body is located on the side of the Y-axis module away from the mounting table, the number of the second groove bodies is two, the two ends of the second groove bodies are respectively communicated with the first groove body and the third groove body, the height of the second groove body is lower than the height of the third groove body, and the width of the third groove body is 1 / 3-1 / 4 of the width of the carrier.

[0011] Further, the five-axis machining center further includes a head changing device, the head changing device includes a machining library, a machining library motor, a head changing frame, and a head changing drive module, the machining library motor is used to drive the machining library to vertically rotate, the head changing drive module is used to drive the head changing frame to horizontally rotate, and the head changing frame is used to pick up the machining head from the machining library and the machining mechanism; In the execution of step C, further comprising: Controlling the X-axis module and the Z-axis module to act so that the machining mechanism is reset to move to the directly above of the head changing frame; The head changing drive module drives the head changing frame to act to respectively pick up the machining head from the machining mechanism and the machining library; The head changing frame rotates to drive the machining head to change positions, so that the machining head to be used moves to the directly below of the machining mechanism; The head changing frame rises to allow different machining heads to enter the machining mechanism and the machining library.

[0012] Further, the machining library has a plurality of clamps arranged in a ring array with the center of gravity of the machining library as the center, each clamp includes a shell, a control member arranged in the shell, and a plurality of clamping members, an elastic member is arranged between each clamping member and the shell, the elastic member is used to force the clamping member to move towards the center of the shell, one end of each clamping member away from the machining head is provided with a guide slope, and the control member is slidingly arranged on the guide slope; and the machining library further has a drive module for driving the clamps to rotate; The working mode of the machining library includes: The machining library motor controls the machining library to rotate, and rotates the clamp of the machining head to be used to the lowest part of the machining library; The drive module is used to drive the clamp to flip, so that the clamp is flipped to have the machining head downward; The control member slides between the plurality of clamping members under the action of gravity, and forces each clamping member to move towards the corresponding elastic member to release the machining head; The processing head falls on the head changing frame; when the unused processing head on the head changing frame is moved between the clamping pieces, the driving module drives the shell to overturn to a horizontal posture, the control piece is guided to be separated from the clamping pieces by the guide slope, and the clamping pieces are forced to clamp the processing head by the elastic piece.

[0013] Further, the side of the processing head is inwardly recessed to form a clamping groove, and the clamping groove is used for clamping and positioning of the clamping piece and the processing mechanism.

[0014] Further, the head changing frame is a cross-shaped structure, and four ends of the head changing frame are respectively provided with support grooves for supporting the processing head.

[0015] The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0017] Figure 2 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0018] Figure 3 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0019] Figure 4 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0020] Figure 5 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0021] Figure 6 The present application has the following advantages: the present application drives the processing mechanism by the X-axis module and the Z-axis module, and drives the carrier by the Y-axis module, so that the load requirement is not high during driving, and the cost is reduced; and since the X-axis module drives the processing mechanism and the Y-axis module drives the carrier, the driving precision is not greatly lost, and the precision requirement in most situations can be met.

[0022] Reference signs: 1-carrier, 2-processing mechanism, 3-X-axis module, 4-Y-axis module, 5-Z-axis module, 6-head changing device, 7-processing head, 8-machine table, 10-A-axis module, 11-mounting table, 12-flow guide groove, 13-first groove body, 14-second groove body, 15-third groove body, 21-B-axis module, 61-processing library, 62-processing library motor, 63-head changing frame, 64-head changing driving module, 65-clamping device, 66-driving module, 71-clamping groove, 631-support groove, 651-shell, 652-clamping piece, 653-elastic piece, 654-guide slope, 655-pushing block, 656-control piece, 661-overturning cylinder, 662-stop block. Detailed Implementation

[0023] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0024] like Figures 1 to 6 As shown, this invention provides a method for operating a five-axis linkage machining center. The five-axis linkage machining center includes a carrier 1, a machining mechanism 2, an X-axis module 3, a Y-axis module 4, and a Z-axis module 5. The carrier 1 has an A-axis module 10, the machining mechanism 2 has a B-axis module 21, the Z-axis module 5 is mounted at the output end of the Z-axis module, the machining mechanism 2 is mounted at the output end of the Z-axis module 5, and the carrier 1 is mounted at the output end of the Y-axis module 4. In actual use, the carrier 1, machining mechanism 2, X-axis module 3, Y-axis module 4, and Z-axis module 5 are all mounted on a machine base 8. Specifically, the present invention operates through the following steps: A. Read the processing path; B. Decompose the machining path spatially to form paths along the X-axis, Y-axis, Z-axis, A-axis, and B-axis; C. According to the path, the X-axis module 3 and Z-axis module 5 are used to drive the machining mechanism 2 to move along the X-axis path and Z-axis path respectively, the Y-axis module 4 is used to drive the carrier 1 to move along the Y-axis path, the A-axis module 10 is used to control the carrier 1 to move along the A-axis path, and the B-axis module 21 is used to control the machining mechanism 2 to move along the B-axis path. D. During step C, the product on carrier 1 is processed using processing mechanism 2.

[0025] Compared to existing technologies, this invention uses the Y-axis module 4 to drive the carrier 1, while the X-axis module 3 and Z-axis module 5 drive the processing mechanism 2. By utilizing the relative movement between the carrier 1 and the processing mechanism 2, the three-axis movement of the processing mechanism 2 relative to the product on the carrier 1 can also be achieved. In conjunction with the A-axis module 10 of the carrier 1, this enables more flexible processing of the product.

[0026] Since X-axis module 3 is equivalent to Y-axis module 4 with less load, the accuracy loss of X-axis module 3 is not significant. Y-axis module 4 only drives carrier 1 and does not need to drive Z-axis module 5 and machining mechanism 2, so the accuracy loss of Y-axis module 4 is also not significant. The accuracy is slightly lower than that of the overhead crane structure, but it is definitely higher than the "three-axis plus two-axis" solution. Similarly, since it involves adjusting the overall structure, the cost is between the two existing solutions.

[0027] It should be noted that the X-axis module 3, the Y-axis module 4 and the Z-axis module 5 of the present application are realized by motor-screw structure to drive and control, and the A-axis module 10 and the B-axis module are also driven and controlled by motors. The motor is preferably a servo motor to ensure the response speed and control accuracy.

[0028] In the embodiment, the lowest height of the machining mechanism 2 is higher than the highest height of the carrier 1, and the machine table 1 of the five-axis linkage machining center is provided with a mounting table 11 and a flow guide groove 12, and the X-axis module 3 is mounted on the top of the mounting table 11. The flow guide groove 12 includes a first groove body 13, a second groove body 14 and a third groove body 15. The first groove body 13 is located between the mounting table 11 and the Y-axis module 4, and the third groove body 15 is located on the side of the Y-axis module 4 away from the mounting table 11. The number of the second groove body 14 is two, and the two ends of the second groove body 14 are respectively communicated with the first groove body 13 and the third groove body 15. The height of the second groove body 14 is lower than the height of the third groove body 15. The width of the third groove body 15 is 1 / 3-1 / 4 of the width of the carrier 1.

[0029] The mounting table 11 is provided to make the five-axis linkage machining center have a height difference, so that the height of the X-axis module 3 is higher than the height of the Y-axis module 4, thereby realizing the height difference to make the cutting easy and smooth.

[0030] In addition, taking machining as an example, it is necessary to continuously spray cooling liquid on the machining mechanism 2 to avoid the problem of overheating of the machining mechanism 2 under high-speed cutting. In order to ensure that the cooling liquid can be easily recycled, the flow guide groove 12 is specially provided. The first groove body 13 is preferably two ends with a height lower than the middle height. When the cooling liquid enters the first groove body 13, the first groove body 13 will guide the cooling liquid to the second groove body 14. Then, since the second groove body 14 needs to be communicated with the first groove body 13 and the third groove body 15 with a height difference, the second groove body 14 must be inclined. Therefore, the cooling liquid will enter the third groove body 15, and then be output to the outside from the outlets at both ends of the third groove body 15.

[0031] For the cooling liquid attached to the Y-axis module 4 / carrier 1, it can be collected through the holes at the bottom of the Y-axis module 4. The flow guide groove 12 is mainly used to collect and guide most of the cooling liquid, thereby ensuring that the cooling liquid leaves the five-axis linkage machining center in time.

[0032] The key steps of the present application are described in detail as follows: In the embodiment, step B specifically includes: B1. respectively generating an X-axis path, a Y-axis path, a Z-axis path, an A-axis path and a B-axis path; B2. decomposing the X-axis path into multiple X-axis sub-paths according to continuity, and obtaining the length of each X-axis sub-path; B3. Based on the total length of the machining path, respectively match the working time of each X-axis sub-path; B4. According to the matched working time, calculate the acceleration time, constant speed time and deceleration time of the X-axis module 3 on each X-axis sub-path by using the model; B5. Referring to steps B2-B4, respectively calculate the sub-path, acceleration time, constant speed time and deceleration time of the Y-axis path, Z-axis path, A-axis path and B-axis path.

[0033] That is, after obtaining the machining path, the present application needs to decompose the machining path to form the independent action of each five-axis, and then generate the moving state of the corresponding module on the path according to the path of the independent action, the time period of the execution path, etc. Taking the X-axis as an example, if it needs to move the first path, it must go through the acceleration, constant speed and deceleration three stages, and the present application needs to allocate the time used on the first path, for example, the time period for acceleration is the first time period, the time period for constant speed movement is the second time period, and the time period for deceleration is the third time period, and it also needs to ensure that the sum of the three time periods is equal to the corresponding working time, so as to ensure high-precision and stable machining with other modules.

[0034] In the present embodiment, step B4 specifically comprises: Obtain the length L and the moving time t of the X-axis sub-path; Input the length L and the moving time t into the model to obtain the maximum speed s, the maximum acceleration a and the acceleration-deceleration a' on the X-axis sub-path; According to L, t, s, a and a', calculate the acceleration time, constant speed time and deceleration time.

[0035] That is, before the action of the five-axis linkage machining center, the model needs to be entered. When the time distribution and speed planning on the path are needed, the model is used to specifically obtain the maximum speed s, the maximum acceleration a and the acceleration-deceleration a', and after knowing the maximum speed s, the corresponding time of the X-axis module 3 in the acceleration, constant speed and deceleration three states can be planned, so as to ensure the accuracy of the action.

[0036] Since a device usually needs to complete the same machining for multiple same type products within a certain time, the model is used to cooperate to output the calculation of the length L, the moving time t and the maximum speed s, which can ensure the stability of the automatic execution of the present application.

[0037] Specifically, the model is used to execute the following steps: X1. Obtain the rated power of the X-axis module 3, the weight of the Z-axis module 5, the weight of the machining mechanism 2, the additional load generated when the Z-axis module 5 acts, and the additional load when the machining mechanism 2 acts; X2. According to the parameters obtained in X1, the maximum speed s of the X-axis under rated power is calculated; X3. According to the parameters obtained in X1 and the peak power of the X-axis module 3, the maximum acceleration a of the X-axis module 3 is calculated; X4. According to the parameters obtained in X1 and the braking force of the X-axis module 3, the deceleration acceleration a' of the X-axis module 3 is calculated.

[0038] That is, taking the X-axis module 3 as an example, the parameters affecting the action of the X-axis module 3 at least include the rated power of the X-axis module 3, the weight of the Z-axis module 5, the weight of the machining mechanism 2, the additional load generated when the Z-axis module 5 acts, and the additional load when the machining mechanism 2 acts. With these parameters, the corresponding parameters can be calculated in combination with the pre-input rated power, peak power and braking force of the X-axis module 3.

[0039] Based on these values, the control of the motion state of the X-axis module 3 can be initially completed, and subsequent only needs to perform specific actions at specific times, in cooperation with the actions of the other four axes, so as to realize automatic processing.

[0040] After testing, in addition to the above-mentioned parameters, other factors that affect the driving control precision are usually encountered in actual production, such as environmental temperature, use time, etc. The existence of these factors often causes an error between the actual moving track and the expected moving track of each module of the present application, although the error is not large, but with the uninterrupted production, the service life, performance and temperature of the module will change, so that the error will continue to increase.

[0041] In order to solve the above problems, the shaft linkage machining center of the present application further comprises a vision device for recording the actual moving track of the machining mechanism 2 and the carrier 1; Step B4 further comprises: analyzing the actual moving track of the machining mechanism 2 and the actual moving track of the carrier 1 to determine the error between the actual moving track and the expected moving track, and then calculating the error coefficient according to the error; When steps X2-X4 are executed, the expected moving track is corrected using the error coefficient, so that the error between the expected moving track and the actual moving track is continuously reduced.

[0042] That is, the present application records the working process of the five-axis linkage machining center in combination with the vision device, the controller (not shown in the figure) of the five-axis linkage machining center analyzes the recorded picture to analyze the error between the actual moving track and the expected moving track of each module, and specifically analyzes which time period of which sub-path causes the error, so as to compensate the error coefficient at the position where the error mainly occurs according to the analysis result.

[0043] Through the above processing, the model of the application is continuously optimized with the increase of processing time and processing times, so that the error between the actual moving track and the expected moving track is continuously reduced, the control error is realized to improve the product yield, and the effect of continuous execution of automatic production is beneficial.

[0044] The controller described in the embodiment can realize trajectory analysis by combining deep learning with AI technology, or upload the trajectory to the cloud by the controller through the 5G network, and analyze the trajectory by the AI of the cloud. Both implementation methods can be achieved.

[0045] In the embodiment, the five-axis linkage machining center further comprises a head changing device 6, the head changing device 6 comprises a machining library 61, a machining library motor 62, a head changing frame 63 and a head changing drive module 6664, the machining library motor 62 is used to drive the machining library 61 to rotate vertically, the head changing drive module 6664 is used to drive the head changing frame 63 to rotate horizontally, and the head changing frame 63 is used to pick up the machining head 7 from the machining library 61 and the machining mechanism 2; during the execution of step C, further comprising: Controlling the X-axis module 3 and the Z-axis module 5 to act so that the machining mechanism 2 is reset to move to the top of the head changing frame 63; The head changing drive module 6664 drives the head changing frame 63 to act to pick up the machining head 7 from the machining mechanism 2 and the machining library 61 respectively; The head changing frame 63 rotates to drive the machining head 7 to change position, so that the machining head 7 to be used moves to the top of the machining mechanism 2; The head changing frame 63 rises to allow different machining heads 7 to enter the machining mechanism 2 and the machining library 61.

[0046] The head changing device 6 is arranged on the machine body and does not move with one of the five axes. The "head" of the head changing device 6 is a device used for machining, such as a tool, a drill, etc. Taking the tool as an example, after the current tool completes the required machining action, the machining mechanism 2 moves to the top of the head changing frame 63 under the action of the X-axis module 3 and the Z-axis module 5; during the machining of the product by the machining mechanism 2, the head changing device 6 moves the next tool to be changed to the head changing frame 63, so that after the machining mechanism 2 is in place, the machining mechanism 2 moves the tool into the head changing frame 63, and the head changing frame 63 only needs to rotate to change the positions of the two tools, so that the new tool moves to the top of the machining mechanism 2, and the machining mechanism 2 picks up the tool, achieving the effect of automatic changing of the machining head 7.

[0047] Specifically, the machining library 61 is arranged with a plurality of clamps 65 in a ring array with the center of gravity of the machining library 61 as the center of the circle, the clamps 65 include a shell 651, a control member 656 arranged in the shell 651, and a plurality of clamping members 652, the clamping members 652 are arranged with elastic members 653 between the clamping members 652 and the shell 651, the elastic members 653 are used to force the clamping members 652 to move towards the center of the shell 651, an end of the clamping members 652 away from the machining head 7 is provided with a guide slope 654, and the control member 656 is slidingly arranged on the guide slope 654; the machining library 61 is further arranged with a driving module 66 used to drive the clamps 65 to rotate.

[0048] The driving module 66 can be composed of a turnover cylinder 661 and a stop block 662, wherein the stop block 662 is used to abut against the stop block 665 of the shell 651, so that when the turnover cylinder 661 drives the stop block 662 to turn over, the stop block 662 drives the stop block 665 to rotate together, thereby achieving the effect of driving the clamps 65 to turn over. The control member 656 is preferably spherical.

[0049] Specifically, the working mode of the machining library 61 includes: The machining library motor 62 controls the machining library 61 to rotate, and rotates the clamps 65 of the machining head 7 to be used to the lowermost part of the machining library 61; The driving module 66 drives the clamps 65 to turn over, so that the clamps 65 are turned over to the machining head 7 downward; The control member 656 slides between the plurality of clamping members 652 under the action of gravity, and forces each clamping member 652 to move towards the corresponding elastic member 653, so as to release the machining head 7; The machining head 7 falls on the head changing frame 63; when the machining head 7 not in use on the head changing frame 63 is moved between the plurality of clamping members 652, the driving module 66 drives the shell 651 to turn over to a horizontal posture, the guide slope 654 is used to guide the control member 656 to separate from the plurality of clamping members 652, and the plurality of clamping members 652 are forced by the elastic members 653 to cooperate with the clamping of the machining head 7.

[0050] The machining library 61 is vertically arranged, the tool to be replaced is moved to the directly below the machining library 61, and then the clamps 65 are controlled to turn over from horizontal to downward under the driving of the driving module 66, so that the tool falls on the tool changing frame; when the clamps 65 are turned over to downward, the control member 656 slides along the guide slope 654 into the plurality of clamping members 652, thereby expanding the clamping members 652 to release the tool, so that the tool can be moved with the tool changing frame; when the tool to be recycled is moved to the directly below the clamps 65, the driving module 66 drives the clamps 65 to reset into the tool, in the process, the control member 656 separates from the plurality of clamping members 652 along the guide slope 654, and the plurality of clamping members 652 can clamp the tool by using the elastic members 653.

[0051] Of course, in the above process, the head driving module 6664 must be able to drive the head frame 63 to at least horizontal rotation and lifting, so the head driving module 6664 can be composed of at least two motors, one motor to control the horizontal rotation of the head frame 63, and the other motor to control the lifting of the head frame 63 through the screw rod.

[0052] Specifically, the side of the machining head 7 is inwardly recessed to form a clamping groove 71, and the clamping groove 71 is used for clamping and positioning by the clamping member 652 or the machining mechanism 2, so as to ensure that when the machining head 7 (i.e. the cutter) is loaded into the machining mechanism 2 or clamped by the clamp 65, it can be stably clamped based on the clamping groove 71.

[0053] Specifically, the head frame 63 is a cross-shaped structure, and the four ends of the head frame 63 are respectively provided with support grooves 631 for supporting the machining head 7. That is, during the machining process, the subsequent three replacement cutters can be sequentially placed in different clamping grooves 71 for standby, thereby effectively saving the cutter replacement efficiency during the entire cutter replacement process.

[0054] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application is disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any skilled person in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the present application, and any equivalent embodiments with equivalent changes are also included. Any simple modification, equivalent change and modification of the above embodiments within the scope of the present application are also included in the scope of the present application.

Claims

1. A working method of a five-axis machining center, characterized in that, The five-axis linkage machining center comprises a carrier, a machining mechanism, an X-axis module, a Y-axis module and a Z-axis module, the carrier is provided with an A-axis module, the machining mechanism is provided with a B-axis module, the Z-axis module is installed at the output end of the Z-axis module, the machining mechanism is installed at the output end of the Z-axis module, and the carrier is installed at the output end of the Y-axis module; Further comprising the following steps: A. reading a machining path; B. spatially decomposing the machining path to form paths of X-axis, Y-axis, Z-axis, A-axis and B-axis; C. according to the paths, driving the machining mechanism to move along the X-axis path and the Z-axis path respectively by using the X-axis module and the Z-axis module, driving the carrier to move along the Y-axis path by using the Y-axis module, controlling the carrier to move along the A-axis path by using the A-axis module, and controlling the machining mechanism to move along the B-axis path by using the B-axis module; D. during the execution of step C, processing the product on the carrier by using the machining mechanism.

2. The working method of the five-axis machining center according to claim 1, characterized in that, Step B specifically comprises: B1. generating X-axis path, Y-axis path, Z-axis path, A-axis path and B-axis path respectively; B2. decomposing the X-axis path into multiple X-axis sub-paths according to continuity, and obtaining the length of each X-axis sub-path; B3. based on the total time length of the machining path, matching the working time length for each X-axis sub-path respectively; B4. according to the matched working time length, calculating the acceleration time, constant speed time and deceleration time of the X-axis module on each X-axis sub-path by using the model; B5. referring to steps B2-B4, respectively calculating each sub-path, each acceleration time, each constant speed time and each deceleration time of the Y-axis path, the Z-axis path, the A-axis path and the B-axis path.

3. The working method of the five-axis machining center according to claim 2, characterized in that, Step B4 specifically comprises: obtaining the length L and the moving time t of the X-axis sub-path; inputting the length L and the moving time t into the model to obtain the maximum speed s, the maximum acceleration a and the acceleration-deceleration a' on the X-axis sub-path; according to L, t, s, a and a', calculating the acceleration time, constant speed time and deceleration time.

4. The working method of the five-axis machining center according to claim 3, characterized in that, The model is used to execute the following steps: X1. obtaining the rated power of the X-axis module, the weight of the Z-axis module, the weight of the machining mechanism, the additional load generated when the Z-axis module acts and the additional load when the machining mechanism acts; X2. according to the parameters obtained in X1, calculating the maximum speed s of the X-axis under the rated power; X3. according to the parameters obtained in X1 and the peak power of the X-axis module, calculating the maximum acceleration a of the X-axis module; X4. according to the parameters obtained in X1 and the braking force of the X-axis module, calculating the deceleration acceleration a' of the X-axis module.

5. The working method of the five-axis machining center according to claim 4, characterized in that, The five-axis linkage machining center further comprises a visualizer for recording the actual moving track of the machining mechanism and the carrier; Step B4 further comprises: analyzing the actual moving track of the machining mechanism and the actual moving track of the carrier to determine the error between the actual moving track and the expected moving track, and then calculating the error coefficient according to the error; when executing steps X2-X4, the expected moving track is corrected by using the error coefficient, so that the error degree between the expected moving track and the actual moving track is continuously reduced.

6. The working method of the five-axis machining center according to claim 1, characterized in that, The lowest height of the machining mechanism is higher than the highest height of the carrier, and the five-axis machining center has a mounting table and a flow guide groove, and the X-axis module is mounted on the top of the mounting table; The flow guide groove includes a first groove body, a second groove body and a third groove body, the first groove body is located between the mounting table and the Y-axis module, the third groove body is located on the side of the Y-axis module away from the mounting table, the number of the second groove bodies is two, the two ends of the second groove bodies are respectively communicated with the first groove body and the third groove body, and the height of the second groove body is lower than that of the third groove body; the width of the third groove body is 1 / 3-1 / 4 of the width of the carrier.

7. The working method of the five-axis machining center according to claim 1, characterized in that, The five-axis machining center further includes a head changing device, the head changing device includes a machining library, a machining library motor, a head changing frame and a head changing drive module, the machining library motor is used to drive the machining library to rotate vertically, the head changing drive module is used to drive the head changing frame to rotate horizontally, and the head changing frame is used to pick up machining heads from the machining library and the machining mechanism; In the execution of step C, further comprising: Controlling the X-axis module and the Z-axis module to act so that the machining mechanism is reset to move to the top of the head changing frame; The head changing drive module drives the head changing frame to act to pick up the machining heads from the machining mechanism and the machining library respectively; The head changing frame rotates to drive the machining heads to change positions so that the machining heads to be used move to the bottom of the machining mechanism; The head changing frame rises to allow different machining heads to enter the machining mechanism and the machining library.

8. The working method of the five-axis machining center according to claim 7, characterized in that, The machining library has a center of gravity, and the machining library has a plurality of clamps arranged in a ring array, each clamp includes a shell, a control member and a plurality of clamping members, an elastic member is arranged between the clamping member and the shell, the elastic member is used to force the clamping member to move towards the center of the shell, one end of the clamping member away from the machining head is provided with a guide slope, and the control member is slidingly arranged on the guide slope; The machining library further comprises a drive module for driving the clamps to rotate; The working mode of the machining library comprises: The machining library motor controls the machining library to rotate, and the clamp of the machining head to be used is rotated to the lowermost part of the machining library; The drive module drives the clamp to flip so that the clamp is flipped to face downward; The control member slides between the plurality of clamping members under the action of gravity, and forces each clamping member to move towards the corresponding elastic member to release the machining head; The machining head falls on the head changing frame, and when the machining heads not in use on the head changing frame move between the plurality of clamping members, the drive module drives the shell to flip to a horizontal posture, the control member is guided to separate from the plurality of clamping members by the guide slope, and the plurality of clamping members are forced to clamp the machining head by the elastic member.

9. The working method of the five-axis machining center according to claim 8, characterized in that, The side of the machining head is inwardly recessed to form a clamping groove, and the clamping groove is used to clamp and position the clamping member and the machining mechanism.

10. The working method of the five-axis machining center according to claim 8, characterized in that, The head changing frame has a cross-shaped structure, and each end of the head changing frame is provided with a support groove for supporting the machining head.

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