Horizontal eight-axis five-linkage turning and milling composite machine tool based on hybrid robot

Abstract

The invention discloses a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot, and belongs to the technical field of high-end equipment manufacturing. According to the technical scheme, the horizontal eight-axis five-linkage turning and milling composite machine tool based on the hybrid robot comprises a machine tool body, and a tool turret mechanism, a workpiece fixing mechanism and a hybrid robot mechanism are sequentially arranged on the side of the machine tool body from bottom to top; the tool turret mechanism comprises a left lower tool turret assembly and a right lower tool turret assembly which are symmetrically arranged on the two sides of the machine tool body. Eight-axis five-linkage machining is achieved through cooperative movement of the symmetrical tool turret assembly and the lifting control mechanism, the self-adaptive supporting assembly and the hybrid robot mechanism are combined, and the problems that a traditional machine tool is insufficient in linkage capacity, poor in workpiece supporting stability and low in automatic cooperative efficiency are solved; the multi-axis linkage machining center has the advantages of being high in machining efficiency, high in supporting stability, excellent in multi-axis linkage precision and outstanding in automatic cooperation capacity.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of high-end equipment manufacturing technology, and particularly relates to a horizontal eight-axis five-linkage turning-milling composite machine tool based on a hybrid robot. BACKGROUND

[0002] In the field of high-end equipment such as aerospace, high-end automobile manufacturing, and precision medical devices, core components often have complex geometric structures, ultra-high dimensional precision, strict surface quality, and multi-process integrated machining requirements. Traditional machining methods for such parts require multiple single-function equipment to complete the machining step by step, and multiple clamping not only leads to low production efficiency, but also causes clamping errors due to the accumulation of positioning reference deviations, directly affecting the final precision of the parts, and making it difficult to meet the performance requirements of high-end equipment for core components.

[0003] With the upgrading of manufacturing technology to composite, high precision, and automation, turning-milling composite machine tools have emerged. By integrating turning, milling, drilling, tapping, and other machining functions, it realizes one clamping and multi-process finishing, effectively solving the precision loss problem caused by multiple clamping, and has become the core equipment for machining complex and precise parts. However, the current turning-milling composite machine tools on the market still have many technical bottlenecks and cannot fully meet the machining requirements of high-end components.

[0004] The linkage capability and machining efficiency of existing turning-milling composite machine tools are difficult to balance, and most are configured with five-axis four-linkage or six-axis five-linkage. For the eight-axis five-linkage scene that needs to simultaneously realize turning, milling, and complex curved surface interpolation, it often needs to be realized by splitting the process or adding external axes, and the essence still has not broken through the limitation of single-station single-process machining. In addition, the stability of the workpiece support and fixing precision is insufficient. For long and slender shaft parts with a large length-diameter ratio, cutting vibration is easy to occur during machining, leading to workpiece bending deformation. The workpiece support mechanism of existing machine tools is mostly fixed with a needle or manually adjusted support seat, which cannot adaptively adjust the support position according to the actual length and diameter of the workpiece, and lacks clamping force monitoring and real-time feedback mechanism.

[0005] The coordination performance of robots and tool magazines also has shortcomings. Series robots have insufficient rigidity due to the multi-joint series structure, and cannot withstand the radial cutting force during milling, making it difficult to participate in core machining processes. At the same time, the coordination of existing robots and tool magazines mostly relies on preset programs, and lacks accurate tool recognition and real-time position compensation. The lifting control precision of the existing machine tool turret is significantly affected by gravity, and most of the existing machine tool turret lifting mechanisms only rely on servo motors and ball screws for driving, without considering the impact of the weight of the turret itself on precision. The integration of intelligence and automation is low, and the coordination control of each mechanism of the existing turning-milling composite machine tool is still in the passive execution stage, lacking dynamic response capability.

[0006] The existing technology needs to be improved in view of the above problems. SUMMARY

[0007] The application provides a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot to solve at least one of the above technical problems.

[0008] The technical scheme adopted by the application is as follows: The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot comprises a machine tool main body, a tool tower mechanism, a workpiece fixing mechanism and a hybrid robot mechanism arranged in sequence from bottom to top on the side of the machine tool main body. The tool tower mechanism comprises left and right lower tool tower assemblies symmetrically arranged on the two sides of the machine tool main body, and a lifting control mechanism is arranged on the side of the machine tool main body and used for controlling the lifting of the left and right lower tool tower assemblies. A first linear guide rail is horizontally arranged on the outer side of the machine tool main body and below the workpiece fixing mechanism, and the two lifting control mechanisms are slidably connected to the first linear guide rail to control the horizontal displacement of the left and right lower tool tower assemblies. A supporting assembly is arranged on the middle part of the outer side of the machine tool main body, and the supporting assembly has a supporting part used for supporting a workpiece to be machined on the workpiece fixing mechanism.

[0009] Further, the supporting assembly comprises a first sliding seat slidably connected to the first linear guide rail, the supporting part is fixedly connected to the first sliding seat, the supporting part comprises a supporting seat, the supporting seat is provided with a sliding groove, and two groups of arc-shaped clamping plates are symmetrically slidably connected in the sliding groove.

[0010] Further, the clamping ends of the two groups of arc-shaped clamping plates are provided with pressure monitoring modules, and the sliding groove is provided with a first servo motor used for driving the two groups of arc-shaped clamping plates to slide towards each other.

[0011] Further, the workpiece fixing mechanism comprises a first fixing seat fixed on the side of the machine tool main body and a second fixing seat slidably connected to the machine tool main body, the first fixing seat and the second fixing seat are arranged in a horizontal coaxial manner, a second linear guide rail is arranged on the side wall of the machine tool main body and used for controlling the sliding of the second fixing seat, bearings are arranged on the first fixing seat and the second fixing seat, the two bearings are arranged in a coaxial manner, and mounting stations used for fixing workpieces to be machined are arranged on the bearings, and a driving motor used for driving the mounting stations to rotate is arranged on the first fixing seat or the second fixing seat.

[0012] Further, electronic scales are arranged in the length direction of the first linear guide rail and the second linear guide rail, a first position sensor is arranged on the second fixing seat, and a second position sensor is arranged on the first sliding seat. Also included is a controller for receiving a position signal of the first position sensor and controlling the sliding of the sliding seat according to the position signal of the first position sensor to move the supporting part below the middle part of the workpiece to be processed.

[0013] Further, the application also proposes that the hybrid robot mechanism comprises a third linear guide rail arranged above the machine tool body, and a robot device is slidably connected to the third linear guide rail, and a chain tool magazine cooperating with the robot device is arranged above the machine tool body.

[0014] Further, the application also proposes that the left lower tool tower assembly and the right lower tool tower assembly are structurally identical, and each comprises a tool tower body, a tool mounting disc and a tool tower driving module; the tool tower driving module comprises a second servo motor and a harmonic reducer, and is used for driving the tool mounting disc to realize ±360° rotary indexing, and the indexing accuracy is ≤0.001°.

[0015] Further, the application also proposes that 8-12 tool stations are uniformly distributed in the circumferential direction of the tool mounting disc, the tool stations can be adapted to turning tools, milling tools, drill bits or taps, and each tool station is provided with a tool recognition sensor.

[0016] Further, the application also proposes that the lifting control mechanism comprises a fourth linear guide rail arranged vertically, and a second sliding seat is slidably connected to the fourth linear guide rail, and the tool tower body is fixed to the second sliding seat.

[0017] Further, the application also proposes that the lifting control mechanism further comprises a balancing assembly, the balancing assembly comprises a cylinder, a piston rod is slidably connected in the cylinder, the cylinder is fixed to the bottom of the fourth linear guide rail, the piston rod is connected to the second sliding seat at the tail end, and the output force of the piston rod is 80%-90% of the weight of the left lower tool tower assembly or the right lower tool tower assembly, and is used for offsetting the influence of gravity on the lifting accuracy.

[0018] Due to the adoption of the above technical scheme, the application has the following beneficial effects: 1. The present scheme realizes synchronous processing of double stations through bilateral symmetrical tool tower layout, shortens the process flow time, the supporting assembly is combined with the clamping module through a sliding groove, dynamically matches the workpiece size, reduces manual intervention, the present scheme combines the horizontal guide rail with the lifting control mechanism to form a composite motion trajectory, and expands the processing range. Through the above technical scheme, the application realizes eight-axis five-linkage processing capability, the bilateral tool towers can be independently or cooperatively operated, and the processing efficiency of complex features is significantly improved. The self-adaptive clamping function of the supporting assembly reduces the workpiece clamping error and improves the processing precision stability. The combined motion mode of the lifting control mechanism and the horizontal guide rail enhances the tool space positioning accuracy. The cooperative operation of the hybrid robot mechanism and the tool magazine optimizes the tool changing path and processing flow, and improves the automation level.

[0019] 2. The scheme realizes the adaptive adjustment of the supporting position through the cooperation of the sliding seat and the guide rail. The symmetrical sliding design of the arc-shaped clamping plate and the sliding groove can adapt to workpieces of different diameters, eliminate manual adjustment errors, increase the clamping contact area, and effectively suppress the bending deformation of the workpiece during machining.

[0020] The application can automatically match the supporting position according to the actual size of the workpiece, evenly distribute the clamping force through the symmetrical distribution of the arc-shaped clamping surface, avoid plastic deformation of the workpiece due to excessive local stress, and at the same time improve the damping effect of the supporting mechanism on cutting vibration, thereby ensuring the shape precision stability of the slender shaft parts during turning and milling combined machining.

[0021] 3. The scheme realizes real-time monitoring and automatic adjustment of the clamping force through pressure monitoring and closed-loop control of the servo motor, eliminates the influence of manual operation errors on the positioning accuracy of the workpiece, effectively solves the problem of workpiece deformation or displacement caused by unstable clamping force of the traditional supporting mechanism, ensures that the slender shaft parts maintain a stable clamping state during machining, avoids surface quality defects caused by cutting vibration, reduces the frequency of manual intervention, and improves machining efficiency and process consistency.

[0022] 4. The scheme realizes the automatic displacement of the second fixed seat through the second linear guide rail, and combines the bearing seat arranged in the same axis to automatically eliminate the axis deviation of the workpiece during clamping, thereby avoiding the coaxiality out-of-tolerance problem caused by manual adjustment errors.

[0023] The application can automatically adjust the distance between the fixed seats according to the actual length of the workpiece, reduce the time for manual measurement and adjustment, and at the same time ensure the stability of the workpiece rotation through the high-precision coaxial bearing seat, reduce the radial runout caused by clamping errors, and thereby improve the size consistency during multi-process machining of complex parts.

[0024] 5. The scheme realizes the full-automatic adjustment of the supporting position through the cooperative detection of the electronic ruler and the position sensor, and the closed-loop control of the controller on the sliding seat, which not only eliminates manual operation errors, but also significantly shortens the workpiece clamping preparation time, solves the technical problem that the supporting position cannot be adaptively adjusted during machining of long shaft workpieces, ensures that the supporting part is always accurately located below the weak rigid area of the workpiece, suppresses the bending deformation caused by cutting vibration, and at the same time reduces the manual intervention link through the automatic process, thereby improving the machining efficiency and precision stability.

[0025] 6. The scheme combines a hybrid robot device with a high-rigidity guide rail, enabling the robot to move quickly and have sufficient rigidity to participate in the cutting process; the coordinated control of the chain tool magazine and the robot device realizes accurate tool recognition and dynamic path planning, avoiding the risk of wrong tool and shortening the tool changing interval time. The application effectively solves the problem of insufficient rigidity when the robot participates in the core machining process, while improving the tool changing efficiency and tool management accuracy. The coordinated work of the hybrid robot mechanism and the chain tool magazine enables quick switching of multiple tools during the machining of complex parts, reduces downtime caused by manual tool changing, and realizes continuous automatic machining of multiple processes.

[0026] 7. The scheme realizes micron-level angle control while maintaining high torque output through direct driving of servo motors and harmonic reducers, improving the indexing accuracy by an order of magnitude, and the transmission components have no mechanical wear, with long-term stability significantly better than traditional structures. The application solves the problem of machining tolerance of high-precision indexing features caused by insufficient indexing accuracy of the tool turret, realizes micron-level indexing positioning through high-rigidity transmission and closed-loop control, ensures the consistency of the tooth spacing of multi-tooth parts, and avoids assembly interference caused by cumulative indexing errors; at the same time, it supports full-circumferential dead-angle-free tool switching, adapting to the multi-angle cutting needs in complex surface machining.

[0027] 8. The scheme increases the number of stations and integrates identification sensors, which not only expands the types of tools that can be called for single clamping, but also avoids the process interruption and wrong tool risk caused by manual tool changing. The application realizes quick switching and accurate identification of multiple types of tools, effectively reduces the processing interruption caused by insufficient or misloaded tools, and improves the continuous machining efficiency and process reliability of complex parts.

[0028] 9. The scheme outputs a constant thrust proportional to the weight of the tool turret through a balance assembly, reducing the axial load on the screw to 10%-20% of the original level, which not only reduces the influence of screw deformation on positioning accuracy, but also avoids vibration caused by sudden change of inertia force during rapid lifting, significantly improving the stability of tool turret lifting motion and repeat positioning accuracy. The application effectively solves the problems of screw elastic deformation and motion impact caused by gravity during the lifting of the tool turret, offsets most of the gravity load through the balance assembly, reduces the load on the drive system, and thus improves the vertical displacement accuracy and motion stability of the tool turret, ensuring that the relative position of the tool and the workpiece remains constant during machining.

[0029] 10. The application matches the cylinder output force with the weight of the tool turret through the introduction of the balancing assembly, effectively reduces the load of the lead screw, avoids the overshoot risk caused by the complete offset of gravity, ensures the lifting accuracy, and prolongs the service life of the lead screw. The application solves the problems of elastic deformation and motion impact of the lead screw caused by gravity during the lifting of the tool turret, improves the vertical positioning accuracy and motion stability of the tool turret, and is especially suitable for scenes that require high-frequency lifting processing, ensuring the relative position accuracy of the tool and the workpiece during the processing of complex parts. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a perspective view of the specific embodiment of the application; Figure 2 is a front view of the specific embodiment of the application; Figure 3 is a top view of the specific embodiment of the application; Figure 4 is a part A enlarged view of the application; Figure 1 Figure 5 is a part B enlarged view of the application. Figure 1

[0031] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The illustrative embodiments of the application and their descriptions serve to explain the application, and do not constitute an improper limitation on the application.

[0032] In the drawings: 1, machine tool main body; 2, left lower tool turret assembly; 21, right lower tool turret assembly; 22, tool turret body; 23, tool mounting disc; 24, tool turret driving module; 25, tool station; 3, first linear guide rail; 31, first sliding seat; 32, support seat; 33, sliding groove; 34, arc-shaped clamping plate; 4, first fixed seat; 41, second fixed seat; 42, second linear guide rail; 43, bearing seat; 44, mounting station; 5, third linear guide rail; 51, robot device; 52, chain tool magazine; 6, fourth linear guide rail; 61, second sliding seat; 7, balancing assembly. DETAILED DESCRIPTION

[0033] In order to more clearly explain the overall concept of the application, the following will be described in detail with reference to the drawings.

[0034] In the following description, many specific details are set forth in order to provide a thorough understanding of the application, however, the application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the application is not limited by the specific embodiments disclosed below.

[0035] ​​In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0036] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection, or communication; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. In the description of the present application, the description of the terms "embodiment", "example", "one embodiment", "example" or "specific example" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] In the prior art, the turning-milling combined machine tool faces technical bottlenecks such as insufficient linkage capability, poor workpiece support stability, and low automation level when machining complex and precise parts. The traditional machine tool adopts a single-sided tool turret layout, and machining of long shaft parts requires multiple adjustments of the workpiece direction, resulting in low efficiency. The workpiece support mechanism relies on manual adjustment and lacks self-adaptive capability, which easily causes clamping errors. The robot coordination performance is insufficient, and it is difficult to participate in core machining processes. The fixed tool changing path limits the efficiency. The tool turret lifting mechanism is significantly affected by gravity, and the positioning accuracy is difficult to meet the micron-level machining requirements. These problems seriously restrict the one-time forming machining precision and efficiency of core parts of high-end equipment.

[0039] To solve the above problems, researchers found that to improve the multi-axis linkage capability of the machine tool, the turret layout needs to be broken through, and the double-sided turrets need to be coordinated. For the stability of the workpiece support, a support assembly with self-adaptive clamping and real-time monitoring function needs to be developed. In order to overcome the influence of gravity on the accuracy of the turret, a balancing mechanism needs to be introduced to offset the weight. By integrating the hybrid robot mechanism and the chain tool magazine, the automation and coordination capability can be enhanced. Based on this, a horizontal eight-axis five-linkage turning-milling composite machine tool is designed, which realizes efficient and high-precision machining of complex parts through the coordination of symmetrical turrets, lifting control mechanisms and self-adaptive support assemblies.

[0040] Therefore, with reference to Figures 1-5 , the application proposes a machine tool body 1, which is provided with a turret mechanism, a workpiece fixing mechanism and a hybrid robot mechanism from bottom to top on the side; the turret mechanism includes a left lower turret assembly 2 and a right lower turret assembly 21 symmetrically arranged on both sides of the machine tool body 1, and the machine tool body 1 is provided with a lifting control mechanism for controlling the lifting of the left lower turret assembly 2 and the right lower turret assembly 21; a first linear guide rail 3 is horizontally arranged outside the machine tool body 1 below the workpiece fixing mechanism, and the two lifting control mechanisms are slidingly connected with the first linear guide rail 3 to control the horizontal displacement of the left lower turret assembly 2 and the right lower turret assembly 21; a support assembly is arranged in the middle of the outer side of the machine tool body 1, and the support assembly has a support part for supporting the workpiece to be machined on the workpiece fixing mechanism.

[0041] Among them, the machine tool body 1 is a basic structure frame carrying various functional modules, which can be realized by cast iron or welded steel structure, and provides installation reference for the turret mechanism and the workpiece fixing mechanism. The turret mechanism includes symmetrically distributed left lower turret assembly 2 and right lower turret assembly 21, which can be driven by double servo motors to realize independent turret and synchronous machining on both sides. The lifting control mechanism is an execution device for controlling the vertical movement of the turret, which can be realized by the combination of ball screw and linear guide rail to ensure the lifting accuracy of the turret. The first linear guide rail 3 refers to the horizontal guide part, which can be realized by high-precision roller linear guide rail to make the turret assembly move along the workpiece axis. The support assembly includes a slidable adjustable support part, which can be realized by a support seat 32 with a sliding groove 33 and a clamping module to meet the support needs of workpieces of different lengths.

[0042] Specifically, the machine tool body 1 integrates various functional modules as a structural foundation, the double-sided tool tower assembly realizes precise positioning in the vertical direction through the lifting control mechanism, and combined with the horizontal movement function of the first linear guide rail 3, a multi-axis linkage machining capability in three-dimensional space is formed. When machining long shaft type parts, the workpiece fixing mechanism clamps the two ends of the workpiece, and the support assembly automatically adjusts the support position according to the length of the workpiece, and stabilizes the middle part of the workpiece through the clamping module in the sliding groove 33. The left lower tool tower assembly 2 and the right lower tool tower assembly 21 can move synchronously or asynchronously along the first linear guide rail 3, and adjust the machining height under the driving of the lifting control mechanism, so as to realize the simultaneous machining of the features on both sides of the workpiece. The hybrid robot mechanism cooperates with the mobile robot through the chain tool magazine 52 to complete the automatic tool replacement and auxiliary machining.

[0043] Compared with the prior art, the traditional machine tool uses a single-sided tool tower, which leads to low machining efficiency. The present scheme realizes synchronous machining of double stations through the layout of double-sided symmetrical tool towers, shortens the process flow time. The existing support mechanism lacks self-adaptive adjustment capability. The support assembly of the present scheme is combined with the clamping module through the sliding groove 33, which can dynamically match the size of the workpiece and reduce manual intervention. Compared with a single vertical lifting mechanism, the present scheme combines a horizontal guide rail and a lifting control mechanism to form a composite motion trajectory, thereby expanding the machining range. Compared with a fixed support structure, the support part position of the present scheme is adjustable, which effectively suppresses the deformation of the slender workpiece during machining.

[0044] Through the above technical scheme, the present application realizes eight-axis five-linkage machining capability, and the double-sided tool towers can work independently or cooperatively, thereby significantly improving the machining efficiency of complex features. The self-adaptive clamping function of the support assembly reduces the workpiece clamping error and improves the machining precision stability. The combined motion mode of the lifting control mechanism and the horizontal guide rail enhances the spatial positioning accuracy of the tool. The cooperative work of the hybrid robot mechanism and the tool magazine optimizes the tool changing path and machining process, thereby improving the automation level.

[0045] Reference Figures 1-5 The present application further proposes that the support assembly comprises a first sliding seat 31, the first sliding seat 31 is slidingly connected with the first linear guide rail 3, a support part is fixedly connected with the first sliding seat 31, and the support part comprises a support seat 32, the support seat 32 is provided with a sliding groove 33, and two groups of arc-shaped clamping plates 34 are symmetrically slidingly connected in the sliding groove 33.

[0046] The first sliding seat 31 is a base structure connected with the linear guide rail through a sliding pair, which can be made of cast iron or welded steel structure, and the bottom of the first sliding seat 31 is provided with a sliding block matched with the guide rail to realize low-friction translation, and is used for bearing and supporting the support part and adjusting the position along the guide rail. The sliding groove 33 is a guide structure provided on the top surface of the support seat 32, which can be made in the form of a T-shaped groove or a dovetail groove, and is used for restricting the sliding track of the arc-shaped clamping plate 34 and transmitting the clamping force. The arc-shaped clamping plate 34 is a movable clamp with a circular arc clamping surface matched with the outer contour of the workpiece, which can be designed in a split type and embedded in the sliding groove 33 through a sliding pair, and is used for symmetrically clamping the workpiece from both sides to prevent radial deviation.

[0047] Specifically, the support assembly is connected with the linear guide rail through the sliding connection of the first sliding seat 31 to realize the position adjustment along the axial direction of the workpiece. When the length of the workpiece changes, the support seat 32 can be moved to the lower part of the middle of the workpiece along the guide rail, so as to avoid the bending of the workpiece caused by the deviation of the support point from the center of gravity. The two groups of arc-shaped clamping plates 34 symmetrically arranged in the sliding groove 33 form radial constraint on the workpiece through opposite sliding, and the circular arc clamping surface is matched with the outer circle of the cylindrical workpiece to ensure uniform distribution of the clamping force. During the machining process, the support seat 32 is rigidly connected with the sliding seat, and the vibration caused by the cutting force is resisted through the guiding action of the guide rail, so as to maintain the stability of the support.

[0048] Compared with the prior art, the traditional support mechanism adopts a fixed needle or a manually adjusted support seat 32, and cannot automatically adjust the support position according to the length of the workpiece, and the clamping surface is mostly a planar structure, which is easy to cause local stress concentration of the workpiece. The support position is automatically adjusted through the cooperation of the sliding seat and the guide rail, the symmetric sliding design of the arc-shaped clamping plate 34 and the sliding groove 33 can adapt to workpieces of different diameters, eliminate the manual adjustment error and increase the clamping contact area, and effectively suppress the bending deformation of the workpiece during machining.

[0049] Through the above technical scheme, the support position can be automatically matched according to the actual size of the workpiece, the clamping force is uniformly dispersed through the symmetrically distributed arc-shaped clamping surface, the plastic deformation of the workpiece caused by excessive local stress is avoided, the damping effect of the support mechanism on the cutting vibration is improved, and the shape precision stability of the slender shaft parts during turning and milling combined machining is ensured.

[0050] The application further provides that the clamping ends of the two groups of arc-shaped clamping plates 34 are provided with pressure monitoring modules, and the sliding groove 33 is provided with a first servo motor for driving the two groups of arc-shaped clamping plates 34 to slide towards each other.

[0051] The pressure monitoring module is a force sensor installed on the surface or inside the clamping end, which can be implemented by using a piezoelectric sensor or a strain gauge sensor, and is used for detecting the pressure value generated when the clamping surface contacts the workpiece in real time. The first servo motor is a precision driving device connected with the transmission mechanism in the sliding groove 33, which can be implemented by using an AC servo motor with an encoder cooperating with a ball screw transmission mechanism, and is used for accurately controlling the synchronous moving speed and displacement of the two groups of arc-shaped clamping plates 34.

[0052] Specifically, during the clamping of the workpiece, the first servo motor drives the two groups of arc-shaped clamping plates 34 to move towards each other along the sliding groove 33 through the transmission mechanism. When the arc-shaped clamping plates 34 contact the surface of the workpiece, the pressure monitoring module starts to collect the clamping force data and transmits the signal to the control system. The control system dynamically adjusts the output torque and speed of the first servo motor according to the preset clamping force threshold value, so that the clamping force is always maintained within the set range. If it is detected that the clamping force exceeds the threshold value, the servo motor immediately adjusts the position of the clamping plate in the opposite direction to avoid the deformation of the workpiece caused by excessive clamping force or the displacement of the workpiece caused by insufficient clamping force.

[0053] Compared with the prior art, the existing support mechanism is manually adjusted in the gap between the clamping plates and lacks a clamping force feedback mechanism, resulting in that the clamping force control completely depends on the experience of the operator. The present scheme realizes real-time monitoring and automatic adjustment of the clamping force through pressure monitoring and closed-loop control of the servo motor, and eliminates the influence of manual operation errors on the positioning accuracy of the workpiece.

[0054] Through the above technical scheme, the present application effectively solves the problem of workpiece deformation or displacement caused by unstable clamping force of the traditional support mechanism, ensures that the slender shaft type parts maintain a stable clamping state during the machining process, avoids surface quality defects caused by cutting vibration, reduces the frequency of manual intervention, and improves the machining efficiency and process consistency.

[0055] The present application further provides a workpiece fixing mechanism based on a horizontal eight-axis five-linkage turning-milling composite machine tool of a hybrid robot, which comprises a first fixing seat 4 fixed on the side of a machine tool main body 1 and a second fixing seat 41 in sliding connection with the machine tool main body 1, the first fixing seat 4 and the second fixing seat 41 are horizontally coaxially arranged, a second linear guide rail 42 for controlling the sliding of the second fixing seat 41 is arranged on the side wall of the machine tool main body 1, bearing seats 43 are arranged on the first fixing seat 4 and the second fixing seat 41, the two bearing seats 43 are coaxially arranged, and mounting workstations 44 for fixing workpieces to be machined are arranged on the bearing seats 43, and drive motors for driving the mounting workstations 44 to rotate are arranged on the first fixing seat 4 or the second fixing seat 41.

[0056] Wherein, the first fixed seat 4 and the second fixed seat 41 are rigid support structures for clamping workpieces, which can be realized by cast or welded steel base, and the horizontal coaxial arrangement can ensure the coaxial accuracy of the workpiece during rotation processing. The second linear guide rail 42 refers to the guide assembly for adjusting the distance between the second fixed seat 41 and the first fixed seat 4, which can be realized by a ball screw driven linear slide rail to adapt to the clamping requirements of workpieces of different lengths. The bearing seat 43 refers to the support component for bearing the rotation of the workpiece, which can be realized by high-precision angular contact ball bearings, and the coaxial arrangement of the two bearing seats 43 can eliminate the radial runout of the workpiece during rotation. The mounting station 44 refers to the clamping interface for fixing the workpiece, which can be realized by a hydraulic chuck or a pneumatic clamp, and the driving motor refers to the power device for driving the workpiece to rotate, which can be realized by a servo motor cooperating with a planetary reducer to realize accurate indexing of the workpiece during multi-angle machining.

[0057] Specifically, the workpiece is clamped between the mounting station 44 of the first fixed seat 4 and the second fixed seat 41, and the second fixed seat 41 slides along the second linear guide rail 42 to adjust the distance from the first fixed seat 4, thereby adapting to workpieces of different lengths. The coaxial arrangement of the two bearing seats 43 ensures the consistency of the workpiece rotation axis, and the driving motor drives one of the mounting stations 44 to rotate through the transmission mechanism, so that the workpiece realizes multi-angle positioning during turning or milling. For example, when machining long shaft parts, the second fixed seat 41 can be automatically adjusted to the appropriate position according to the length of the workpiece, and the driving motor drives the workpiece to rotate continuously to complete the peripheral turning, or intermittently indexes to complete the end face milling.

[0058] Compared with the prior art, the workpiece fixing mechanism of the traditional machine tool is mostly single-sided fixed pin or manually adjusted chuck, which cannot automatically adjust the support distance according to the length of the workpiece, and the coaxiality depends on manual calibration. The second linear guide rail 42 realizes the automatic displacement of the second fixed seat 41, and the coaxial bearing seat 43 can automatically eliminate the workpiece axis deviation during clamping, avoiding the coaxiality out-of-tolerance problem caused by manual adjustment error.

[0059] The present application can automatically adjust the distance between the fixed seats according to the actual length of the workpiece, reduce the manual measurement and adjustment time, and at the same time ensure the stability of the workpiece rotation through the high-precision coaxial bearing seat 43, reduce the radial runout caused by clamping error, and improve the size consistency of complex parts during multi-process machining.

[0060] The application further provides a horizontal eight-axis five-linkage turning and milling combined machine tool based on a hybrid robot, an electronic ruler is arranged in the length direction of the first linear guide rail 3 and the second linear guide rail 42, a first position sensor is arranged on the second fixed seat 41, and a second position sensor is arranged on the first sliding seat 31; the controller is used for receiving the position signal of the first position sensor and controlling the sliding of the sliding seat according to the position signal of the first position sensor, so as to move the supporting part to below the middle part of the workpiece to be machined.

[0061] The electronic ruler is a displacement measuring device arranged in the length direction of the guide rail, and can be specifically implemented by a magnetic grating ruler or an optical grating ruler, and is used for detecting the displacement of the moving part on the guide rail in real time. The first position sensor is a detection element arranged on the second fixed seat 41, and can be specifically implemented by an optical sensor or a proximity switch, and is used for detecting the position of the second fixed seat 41 relative to the machine tool main body 1. The second position sensor is a detection element arranged on the first sliding seat 31, and can be specifically implemented by a Hall sensor or an encoder, and is used for detecting the position of the supporting part. The controller is a control unit with signal processing and logical operation functions, and can be specifically implemented by a PLC or an industrial computer, and is used for generating a control instruction according to the sensor signal to drive the sliding of the sliding seat.

[0062] Specifically, when the workpiece is clamped in the mounting station 44 of the fixing mechanism, the second fixed seat 41 slides along the second linear guide rail 42 to adapt to the length of the workpiece. The first position sensor detects the displacement of the second fixed seat 41 in real time and transmits the position signal to the controller. The controller calculates the theoretical supporting position corresponding to the middle part of the workpiece according to the position of the second fixed seat 41 and a preset algorithm, generates a control instruction to drive the first sliding seat 31 to move along the first linear guide rail 3. The second position sensor feeds back the actual position of the supporting part in real time, and the controller adjusts the displacement of the sliding seat through closed-loop control until the supporting part is accurately moved to below the middle part of the workpiece. This process does not require manual measurement and manual adjustment, and realizes the self-adaptive matching of the position of the supporting part and the length of the workpiece.

[0063] Compared with the prior art, the position adjustment of the traditional machine tool supporting seat 32 depends on manual measurement of the length of the workpiece and manual movement, and has the problems of long adjustment time and low positioning accuracy. The scheme realizes the full-automatic adjustment of the position of the supporting part through the cooperative detection of the electronic ruler and the position sensor and the closed-loop control of the controller on the sliding seat, not only eliminates the manual operation error, but also significantly shortens the workpiece clamping preparation time, solves the technical problem that the supporting position cannot be self-adaptively adjusted during the machining of the long shaft workpiece, ensures that the supporting part is always accurately located below the weak rigid area of the workpiece, suppresses the bending deformation caused by cutting vibration, and at the same time reduces the manual intervention link through the automatic process, improves the machining efficiency and precision stability.

[0064] The application further provides a horizontal eight-axis five-linkage turning and milling combined machine tool based on a hybrid robot, which is provided with a turret mechanism, a workpiece fixing mechanism and a hybrid robot mechanism from bottom to top on one side of a machine tool body 1.

[0065] The third linear guide rail 5 refers to a high-rigidity guide rail structure extending longitudinally along the top of the machine tool body 1, which can be specifically implemented by a precision roller linear guide rail, and the load-carrying capacity and guiding precision thereof meet the rapid movement requirement of the robot device 51 in the machining area. The robot device 51 refers to a hybrid robot arm integrating multiple degrees of freedom movement, which can be specifically implemented by a configuration combining a parallel mechanism and a serial mechanism, and has high rigidity and flexible movement characteristics. The chain tool magazine 52 refers to a storage device for arranging tools in a ring chain, which can be specifically implemented by a tool pocket structure with an RFID tag identification function, and each tool pocket independently stores different specifications of tools and is circulated by the chain.

[0066] Specifically, the third linear guide rail 5 extends longitudinally along the top of the machine tool body 1, and the robot device 51 forms a sliding pair with the guide rail through a sliding block, so that the robot device 51 can move horizontally between the machining area and the tool magazine area. The chain tool magazine 52 is arranged on the top side of the machine tool body 1, and a plurality of tool pockets are installed on the ring chain at intervals, and a tool identification sensor is arranged in each tool pocket to detect the tool type and wear state. When the tool needs to be changed, the robot device 51 slides along the third linear guide rail 5 to the tool magazine position, and the end effector grasps the target tool, while the tool magazine chain rotates to deliver the next tool to be used to the tool changing position. During the machining process, the robot device 51 can move to the workpiece machining area with a specific tool, and cooperate with the machine spindle and the turret mechanism to realize multi-process coordinated operation.

[0067] Compared with the prior art, the serial robot adopted by the existing turning and milling combined machine tool cannot participate in the milling process due to insufficient rigidity, and the fixed tool changing path leads to low efficiency. The hybrid robot device 51 combined with the high-rigidity guide rail in the present application can not only move quickly but also has sufficient rigidity to participate in the cutting process, and the cooperative control of the chain tool magazine 52 and the robot device 51 realizes accurate tool identification and dynamic path planning, avoids the risk of wrong tool and shortens the tool changing interval time. The application effectively solves the problem of insufficient rigidity when the robot participates in the core machining process, and improves the tool changing efficiency and tool management accuracy. The cooperative work of the hybrid robot mechanism and the chain tool magazine 52 enables quick switching of multiple tools during the machining process of complex parts, reduces the downtime caused by manual tool changing, and realizes continuous automatic machining of multiple processes.

[0068] Reference Figures 1-5The application further proposes that the left lower turret assembly 2 and the right lower turret assembly 21 are structurally identical, and each includes a turret body 22, a tool mounting disc 23, and a turret driving module 24; the turret driving module 24 includes a second servo motor and a harmonic reducer, and is used to drive the tool mounting disc 23 to realize ±360° rotary indexing, with an indexing accuracy of ≤0.001°.

[0069] Among them, the turret driving module 24 refers to a power and transmission unit for controlling the rotary motion of the tool mounting disc 23, which can be specifically realized by a combination of a second servo motor and a harmonic reducer. The servo motor provides rotary power, the harmonic reducer reduces the output rotation speed of the motor and increases the torque, and at the same time eliminates the gear gap to ensure the indexing accuracy. The indexing accuracy of ≤0.001° means that when the tool mounting disc 23 stops at any indexing position, the actual angle deviates from the theoretical angle by not more than one thousandth of a degree. This accuracy is realized through closed-loop control of the servo motor and high-rigidity transmission of the harmonic reducer, which can avoid the accumulation of indexing errors leading to excessive assembly clearance of multi-tooth parts.

[0070] Specifically, the turret driving module 24 outputs rotary power through the second servo motor, which is transmitted to the tool mounting disc 23 after being reduced in speed and increased in torque by the harmonic reducer. The built-in encoder of the servo motor feeds back the rotation angle in real time, forming a closed-loop control. When it is necessary to switch the machining tool, the control system sends an indexing command to drive the tool mounting disc 23 to rotate and position at a preset angle. The zero-backlash characteristic of the harmonic reducer can eliminate the backlash of the transmission chain, and the precise angle control of the servo motor ensures that there is no cumulative error in the indexing process. After the tool mounting disc 23 completes indexing at any angle within the ±360° range, the deviation between its actual stop position and the target position is controlled within 0.001°, meeting the processing needs of high-precision indexing features.

[0071] Compared with the prior art, the traditional turret indexing mechanism mostly adopts worm gear or planetary gear reduction, and the indexing accuracy can only reach 0.005°~0.01°, and the accuracy will decrease due to gear wear after long-term use. This scheme realizes micron-level angle control while maintaining high torque output through the direct driving mode of the servo motor and the harmonic reducer, and the indexing accuracy is improved by an order of magnitude. Moreover, there is no mechanical wear of the transmission components, and the long-term stability is significantly better than that of the traditional structure. The application solves the problem of high-precision indexing feature processing out-of-tolerance caused by insufficient turret indexing accuracy, realizes micron-level indexing positioning through high-rigidity transmission and closed-loop control, ensures the tooth pitch consistency of multi-tooth parts, and avoids assembly interference caused by cumulative indexing errors. At the same time, it supports full-circumferential dead-angle-free tool switching, and adapts to multi-angle cutting requirements in complex surface machining.

[0072] Reference Figures 1-5The tool mounting disc 23 is further provided with 8-12 tool stations 25 which are evenly distributed in the circumferential direction, the tool stations 25 can be adapted to turning tools, milling tools, drill bits or taps, and each tool station 25 is provided with a tool identification sensor.

[0073] The tool station 25 refers to an installation interface on the tool mounting disc 23 for fixing different machining tools, which can be realized by using a standardized tool shank interface matched with a mechanical locking mechanism, and each station is independently configured with a cooling liquid channel and a signal transmission contact. The tool identification sensor refers to a non-contact radio frequency identification device embedded in the tool station 25, which can be realized by using an RFID read-write module matched with an electronic tag built-in the tool shank to realize real-time collection and transmission of tool model and wear state information.

[0074] Specifically, the tool mounting disc 23 is formed into a ring-shaped tool magazine structure by evenly arranging 8-12 independent stations in the circumferential direction. Each station can quickly install different functional tools such as turning tools and milling tools through a standardized interface, and automatically switch the required tools according to the numerical control program instructions during the machining process. The tool identification sensor reads the tool identity information in real time through wireless radio frequency signals, and immediately sends an alarm signal to the control system and suspends the machining process when it detects that the tool model does not match the preset program or the tool wear exceeds the threshold.

[0075] Compared with the prior art, the traditional turning-milling combined machine tool turret is usually only configured with 4-6 tool stations 25, and needs to be frequently stopped for tool replacement when machining complex parts, and lacks tool state monitoring function. The scheme increases the number of stations and integrates the identification sensor, which not only expands the types of tools that can be called for single clamping, but also avoids the process interruption and wrong tool risk caused by manual tool replacement. The application realizes the rapid switching and accurate identification of multiple types of tools, effectively reduces the machining interruption caused by insufficient or misloaded tools, and improves the continuous machining efficiency and process reliability of complex parts.

[0076] Reference Figures 1-5 The application further provides a lifting control mechanism which includes a fourth linear guide rail 6 arranged vertically, a second sliding seat 61 is slidingly connected to the fourth linear guide rail 6, and the turret body 22 and the second sliding seat 61 are fixed; the lifting control mechanism further includes a balancing assembly 7 which includes a cylinder, a piston rod is slidingly connected in the cylinder, the cylinder is fixed to the bottom of the fourth linear guide rail 6, the end of the piston rod is connected to the second sliding seat 61, and the output force of the piston rod is 80%-90% of the weight of the lower left turret assembly 2 or the lower right turret assembly 21, which is used to offset the influence of gravity on the lifting accuracy.

[0077] The fourth linear guide rail 6 refers to a guide component arranged in the vertical direction, which can be specifically implemented by a high-rigidity roller guide rail, and functions to provide an accurate vertical movement track for the tool turret lifting. The second sliding seat 61 refers to a moving component matched with the fourth linear guide rail 6, which can be specifically implemented by a cast iron or welded steel structure, and is used to bear the tool turret body 22 and slide along the guide rail. The balancing assembly 7 refers to a mechanism for balancing the gravity of the tool turret, which can be specifically implemented by a combination structure of a cylinder and a piston rod, the cylinder is fixed at the bottom of the guide rail, the piston rod is connected to the sliding seat at the end, and a constant thrust proportional to the weight of the tool turret is output to offset the load of the gravity on the lifting driving system.

[0078] Specifically, the fourth linear guide rail 6 is vertically installed on the side of the machine tool body 1, the second sliding seat 61 forms a sliding pair with the guide rail through a sliding block, and the tool turret body 22 is fixed to the side surface of the sliding seat through bolts. The cylinder of the balancing assembly 7 is fixed at the lower end of the guide rail, and the end of the piston rod is connected to the bottom of the sliding seat in a hinged manner. When the tool turret performs lifting movement, the cylinder continuously outputs a thrust force corresponding to 80%-90% of the weight of the tool turret, and the thrust force is in the opposite direction of the gravity of the tool turret, thereby significantly reducing the axial load borne by the ball screw. This design enables the driving system to only overcome the remaining 10%-20% of the gravity component and the friction force to realize the lifting movement, effectively inhibits the positioning error caused by the elastic deformation of the screw, and reduces the movement impact in the lifting process.

[0079] Compared with the prior art, the existing tool turret lifting mechanism does not provide a gravity compensation device, and the screw bears the entire weight of the tool turret for a long time, which is easy to cause elastic deformation, resulting in return error and vibration problems. The present scheme outputs a constant thrust force proportional to the weight of the tool turret through the balancing assembly 7, reduces the axial load borne by the screw to 10%-20% of the original level, reduces the influence of the deformation of the screw on the positioning accuracy, avoids the vibration caused by the sudden change of the inertial force during rapid lifting, and significantly improves the stability of the tool turret lifting movement and the repeat positioning accuracy. The present application effectively solves the problems of elastic deformation and movement impact of the screw caused by the weight during the lifting process of the tool turret, offsets most of the gravity load through the balancing assembly 7, reduces the load of the driving system, thereby improving the vertical displacement accuracy and movement stability of the tool turret, and ensuring that the relative position of the tool and the workpiece remains constant during the machining process.

[0080] With reference to Figures 1-5 The present application further provides that the lifting control mechanism further comprises a balancing assembly 7, the balancing assembly 7 comprises a cylinder, a piston rod is slidably connected in the cylinder, the cylinder is fixed to the bottom of the fourth linear guide rail 6, and the end of the piston rod is connected to the second sliding seat 61. The output force of the piston rod can be 80% to 90% of the weight of the left lower tool turret assembly 2 or the right lower tool turret assembly 21, and is used to offset the influence of the gravity on the lifting accuracy.

[0081] The balancing assembly 7 is a mechanism for applying a counteracting force to offset the influence of the self-weight of the tool turret assembly, which can be implemented by a combination of a cylinder and a piston rod. The cylinder provides a constant thrust as a power source, and the piston rod transmits the thrust to the tool turret assembly as a force transmission component. The output force ratio of the piston rod is set to 80% to 90% of the self-weight of the tool turret assembly, which means that the output force of the cylinder is dynamically adjusted according to the actual weight of the tool turret assembly. The adjustment can be realized by adjusting the air pressure of the cylinder or the piston area. The ratio range can effectively balance the axial load generated by gravity on the lifting mechanism.

[0082] Specifically, the cylinder is fixedly installed at the bottom of the fourth linear guide rail 6, and the end of the piston rod is rigidly connected with the second sliding seat 61 that carries the tool turret assembly. When the tool turret assembly performs the lifting movement, the cylinder continuously outputs a thrust in the opposite direction of the self-weight of the tool turret assembly, which is set to 80% to 90% of the weight of the tool turret assembly. By means of the thrust, most of the gravity effect is offset, and the ball screw only needs to bear the remaining 10% to 20% load, thereby significantly reducing the elastic deformation amount of the screw. At the same time, the dynamic balance between gravity and driving force during lifting reduces the movement impact, so that the lifting process of the tool turret assembly is more stable.

[0083] Compared with the prior art, the existing tool turret lifting mechanism does not provide a gravity compensation device, and the ball screw needs to completely bear the self-weight of the tool turret, which is prone to cause elastic deformation of the screw and attenuation of positioning accuracy during long-term operation. By introducing the balancing assembly 7, the output force of the cylinder is accurately matched with the weight of the tool turret, which not only effectively reduces the load of the screw, but also avoids the overshoot risk caused by completely offsetting the gravity, thereby ensuring the lifting accuracy and prolonging the service life of the screw. The present application solves the problems of elastic deformation of the screw and movement impact caused by the self-weight during the lifting process of the tool turret, improves the vertical positioning accuracy and movement stability of the tool turret, and is especially suitable for scenes requiring high-frequency lifting machining, thereby ensuring the relative position accuracy of the tool and the workpiece during machining of complex parts.

[0084] The places not mentioned in the present application can be realized by using or referring to the existing technology.

[0085] Each embodiment in the present specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment mainly describes the differences from other embodiments.

[0086] The above only describes the embodiments of the present application and is not used to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A horizontal eight-axis five-linkage turn-mill compound machine tool based on a hybrid robot, characterized in that, Including machine tool body (1), the machine tool body (1) is sequentially provided with tool turret mechanism, workpiece fixing mechanism, hybrid robot mechanism from below to above side; Wherein, the tool turret mechanism includes left lower turret assembly (2) and right lower turret assembly (21) symmetrically arranged on both sides of the machine tool body (1), and the machine tool body (1) is provided with lifting control mechanism for controlling the lifting of the left lower turret assembly (2) and the right lower turret assembly (21); The first linear guide rail (3) is horizontally arranged on the outer side of the machine tool body (1) and below the workpiece fixing mechanism, and the two groups of lifting control mechanisms are slidably connected with the first linear guide rail (3) to control the horizontal displacement of the left lower turret assembly (2) and the right lower turret assembly (21); The support assembly is arranged on the middle part of the outer side of the machine tool body (1), and the support assembly has a support part for supporting the workpiece to be processed on the workpiece fixing mechanism.

2. The horizontal eight-axis five-linkage turn-mill compound machine tool based on a hybrid robot according to claim 1, characterized in that, The support assembly includes a first sliding seat (31) slidably connected with the first linear guide rail (3), and the support part is fixedly connected with the first sliding seat (31), and the support part includes a support seat (32) provided with a sliding groove (33), and two groups of arc-shaped clamping plates (34) are symmetrically slidably connected in the sliding groove (33).

3. The horizontal eight-axis five-linkage turn-mill center based on a hybrid robot according to claim 2, characterized in that, The clamping ends of the two groups of arc-shaped clamping plates (34) are provided with pressure monitoring modules, and the sliding groove (33) is provided with a first servo motor for driving the two groups of arc-shaped clamping plates (34) to slide towards each other.

4. The horizontal eight-axis five-linkage turn-mill center based on a hybrid robot according to claim 3, characterized in that, The workpiece fixing mechanism includes a first fixed seat (4) fixed on the side of the machine tool body (1) and a second fixed seat (41) slidably connected with the machine tool body (1), the first fixed seat (4) and the second fixed seat (41) are horizontally coaxially arranged, the side wall of the machine tool body (1) is provided with a second linear guide rail (42) for controlling the sliding of the second fixed seat (41), the first fixed seat (4) and the second fixed seat (41) are both provided with bearing seats (43), the two bearing seats (43) are coaxially arranged, and the bearing seats (43) are provided with mounting stations (44) for fixing the workpiece to be processed, and the first fixed seat (4) or the second fixed seat (41) is provided with a driving motor for driving the mounting station (44) to rotate.

5. The hybrid robot horizontal eight-axis five-link turning-milling combined machine tool according to claim 4, characterized in that, Electronic scales are arranged on the length direction of the first linear guide rail (3) and the second linear guide rail (42), a first position sensor is arranged on the second fixed seat (41), and a second position sensor is arranged on the first sliding seat (31); The controller is also included, which is used for receiving the position signal of the first position sensor and controlling the sliding of the sliding seat according to the position signal of the first position sensor to move the support part below the middle part of the workpiece to be processed.

6. The hybrid robot horizontal eight-axis five-link turning-milling combined machine tool according to claim 4, characterized in that, The hybrid robot mechanism includes a third linear guide rail (5) arranged above the machine tool body (1), a robot device (51) slidably connected with the third linear guide rail (5), and a chain tool magazine (52) arranged above the machine tool body (1) and matched with the robot device (51).

7. The hybrid robot horizontal eight-axis five-link turning-milling combined machine tool according to claim 2, characterized in that, The left lower turret assembly (2) and the right lower turret assembly (21) are identical in structure and each comprises a turret body (22), a tool mounting disc (23) and a turret driving module (24); the turret driving module (24) comprises a second servo motor and a harmonic reducer and is used for driving the tool mounting disc (23) to rotate.

8. The hybrid robot horizontal eight-axis five-link turning and milling compound machine tool based on the hybrid robot horizontal eight-axis five-link turning and milling compound machine tool according to claim 7, characterized in that, The tool mounting disc (23) is uniformly provided with 8-12 tool stations (25) in the circumferential direction, the tool stations (25) can be adapted to turning tools, milling tools, drills or taps, and each tool station (25) is provided with a tool identification sensor.

9. The hybrid robot horizontal eight-axis five-link turning-milling combined machine tool according to claim 1, characterized in that, The lifting control mechanism comprises a fourth vertical linear guide rail (6), the fourth vertical linear guide rail (6) is slidably connected with a second sliding seat (61), and the turret body (22) is fixed to the second sliding seat (61).

10. The hybrid robot horizontal eight-axis five-link turning-milling combined machine tool according to claim 1, characterized in that, The lifting control mechanism further comprises a balancing assembly (7), the balancing assembly (7) comprises a cylinder, a piston rod is slidably connected in the cylinder, the cylinder is fixed to the bottom of the fourth vertical linear guide rail (6), the piston rod is connected with the second sliding seat (61) at the tail end, and the output force of the piston rod is used for offsetting the influence of the gravity of the left lower turret assembly (2) or the right lower turret assembly (21) on the lifting precision.

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