Four-axis linkage eight-spindle high-speed CNC automatic system based on X-PRIME platform

Abstract

The invention discloses a four-axis linkage eight-spindle high-speed CNC automatic system based on an X-PRIME platform, and the system comprises eight-spindle high-speed machining equipment with a four-axis synchronous control structure, the machining equipment comprises a four-axis control inclined workbench, and the four-axis control inclined workbench is provided with an X-PRIME platform. The four-axis control inclined workbench is of an integrated built-in single-acting air cylinder type fixed workbench structure without a T-shaped groove, and two piston rods with the inner diameter of an air cylinder are horizontally inserted into the air cylinder in a bilateral symmetry mode. The air cylinder can output bidirectional clamping force not lower than 260 kgf under the air pressure condition of 5 kgf / cm < 2 >. The tool clamp is positioned and fixed through a four-point taper pin, automatic circulation of clamp assembling and disassembling can be achieved by means of a composite AGV, and the repeated positioning precision does not exceed 3 micrometers. The single-spindle vertical machining center based on BT30 can fundamentally solve the bottleneck problems of an existing single-spindle vertical machining center (VMC) based on BT30 in the aspects of structure, control and automation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of numerical control machining platform technology suitable for high-speed, high-precision, high-performance metal processing requirements, in particular to a four-axis linkage eight-spindle high-speed CNC automation system based on an X-PRIME platform, which is suitable for intelligent watch shells, intelligent mobile phone middle frames, earphone rotating shafts, electronic book shells, biological implant medical parts (such as Ti-6Al-4V titanium alloy, SUS316L stainless steel), etc., has miniaturization, complex curved surface structure, and requires high-precision machining process with a repeat positioning accuracy within 3 μm. BACKGROUND

[0002] The existing precision metal part machining process of complex shapes such as intelligent mobile phone frames, intelligent watch shells, wearable devices, and hinges has mainly been built around a single-spindle general tapping center (VMC) device based on a BT30 tool holder since Apple iPhone 4 series first introduced a metal shell in 2010.

[0003] Typical high-speed small devices such as FANUC and BROTHER series are usually used for small and medium-sized aluminum and titanium alloy shell machining in the rated speed range of S13,500 ~ S19,500 rpm. However, in the multi-spindle high-speed machining and long-time high-speed unmanned machining environment, the device using the BT30 tool holder has the following limitations in structure, control logic, and process operation:

[0004] 1. The number of tools is limited due to the outer diameter size of the turret tool magazine; the traditional turret tool magazine structure is generally designed with 14-21 fixed tool positions, which is limited in expansion due to the constraints of the device main body shape and Y-axis interference distance. Especially when combined with a composite AGV to realize unmanned automatic machining, the limitation of the number of tools seriously restricts the automatic response capability of tool life management and spare tools; in addition, although the ISO25 small tool holder is suitable for high-speed rotation and is significantly superior to BT30 in spindle stability, center offset control, and vibration tolerance, due to the original device design facing a general platform, the tool holder mounting base and tool magazine diameter structure limit the actual number of tools that can be assembled, making it difficult to meet the high-speed high-precision machining requirements.

[0005] 2. Low efficiency of automated linkage makes it difficult to meet the needs of unmanned continuous production. Although existing single-spindle tapping centers can be retrofitted with a 4-axis linkage tilting worktable, in reality, only one set of rotary axis structures can be expanded. This makes it difficult to optimize the AGV's movement path and cycle time in a multi-machine linkage environment, resulting in limitations on the implementation of advanced control logic such as automatic fixture recognition, coordinate consistency, tool life management, and spare tool switching, leading to a lag in the level of machining automation. Especially in the 180° fixture flipping operation, the traditional external cylinder clamping structure is used, usually with 2 to 4 cylinders configured horizontally and mounted on the worktable. To avoid interference, the base height needs to be increased, which causes the 4-axis rotation center to shift upward, resulting in structural problems such as increased vibration at high speeds and decreased repeatability.

[0006] 3. High-speed, high-precision machining is difficult when dealing with complex shapes and tiny cutting tools; precision parts such as smartwatch casings, mobile phone frames, e-book covers, and hinges mostly have a wall thickness of less than 10mm, and typically use... Ultra-small diameter end mills are used for high-speed precision machining. However, due to the limitations of the BT30 tool holder's flange diameter, taper stability, and clamping rigidity, it is prone to eccentric vibration under high-speed conditions, causing a series of quality problems such as tool deviation, tool breakage, and abnormal workpiece dimensions. Taking the machining of smartphone frames as an example, to achieve effective removal rate and stable feed rate, a spindle speed of at least S24,000 rpm is required. However, most general-purpose BT30 machining platforms currently only support the S16,000 to 24,000 rpm range, and the actual effective speed is even lower due to heat generation and thermal drift during continuous operation, making it difficult to guarantee machining efficiency.

[0007] 4. Structural thermal displacement accumulation under high-speed continuous operation conditions; the main structure of the BT30 platform equipment is generally constructed of cast iron, whose coefficient of thermal expansion α≈1.2×10 -5 (1 / ℃), there is a structural bottleneck in terms of thermal stability. Even with a spindle cooling system, under continuous high-speed operation with a temperature rise of ΔT = 15℃, the theoretical thermal displacement ΔL ≈ 0.130mm is calculated based on a column length of 800mm. This type of structural thermal displacement will lead to a series of quality problems such as misalignment of the reference coordinate system between multiple spindles, increased repeatability error of the fixture, Z-axis zero-position offset, and fluctuation of finished product dimensional tolerances. It simply cannot meet the requirements of a high-precision fixture assembly platform with repeatability accuracy below ±3μm.

[0008] In summary, the structural bottlenecks of traditional general-purpose CNC platforms are insufficient to meet the growing demands for high-speed, high-precision, and unmanned manufacturing in the field of intelligent devices. Therefore, a new technology is needed to address these issues. Summary of the Invention

[0009] In view of this, the present application aims at the existing defects in the prior art, and the main purpose is to provide a four-axis linkage eight-spindle high-speed CNC automation system based on X-PRIME platform, which aims to fundamentally solve the bottleneck problems existing in the structure, control and automation of the existing single-spindle vertical machining center (VMC) based on BT30.

[0010] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0011] A four-axis linkage eight-spindle high-speed CNC automation system based on X-PRIME platform, the system comprises an eight-spindle high-speed machining equipment with a four-axis synchronous control structure, wherein the machining equipment comprises a four-axis control inclined workbench, the four-axis control inclined workbench adopts an integrated built-in single-acting cylinder type fixed workbench structure without T-shaped slot, the cylinder inner diameter is Two Piston rods are horizontally inserted into the cylinder; the cylinder can output bidirectional clamping force not less than 260kgf under the condition of 5kgf / cm 2 Gas pressure; the tool clamp is positioned and fixed by four-point taper pins, and can realize automatic circulation of clamp loading and unloading by means of composite AGV, and the repeated positioning accuracy is not more than 3μm.

[0012] The present application is based on the X-PRIME platform structure architecture, integrates mechatronic design, automation control protocol, structure thermal suppression, clamp fine alignment structure, tool automatic replacement logic and predictive maintenance algorithm (Predictive Maintenance), and overall overcomes the structural limitations of the existing CNC machining center, and helps to realize the "high speed-high precision-unmanned" metal processing system architecture required by the new generation of intelligent manufacturing.

[0013] The present application provides a high-integration manufacturing solution of high-speed unmanned production line which can be directly applied to high-precision metal parts such as smart watches, smart phone middle frames, hinges, medical implants, etc., and has significant industrial application value and technical influence in the high integration of multi-axis CNC system structure, control and automation.

[0014] The present application is equipped with eight parallel spindles based on four-axis linkage control, and adopts an ultra-small elliptical chain rotary tool magazine with a radius not more than 110mm, which can install more than 40 tools under the ISO25 tool shank specification; in addition, the spindles are linearly arranged along the X0·Y0 origin, and only by moving up and down through the Z axis, the automatic tool changing of all eight spindles can be completed within 4 seconds without tool interference; under this structure, the tool changing time of a single spindle is 4 seconds, and when eight spindles change tools simultaneously, the Tool-to-Tool time is 4 seconds ÷ 8 = 0.5 seconds / spindle, which exceeds the global fastest tool changing performance of Brother high-speed tapping center 0.6-0.7 seconds / tool.

[0015] The present application adopts a low gravity center integrated four-axis control tilting workbench design, and integrates a 60mm diameter double-core pneumatic cylinder type bidirectional cam driving clamping mechanism inside the main shaft seat and tail seat, so that the clamp can be directly installed on the center axis of the workbench, and the structural repeatability positioning accuracy is guaranteed by forming a taper alignment mechanism through a conical positioning pin.

[0016] The present application integrates eight parallel main shafts under the control of four-axis linkage in the same device, ensures that the AGV mechanical arm can complete the automatic response of multiple clamps in one trip, installs identification markers Marker inside the device through the construction of a CNC-MES-AGV-3D Vision closed-loop control architecture, realizes automatic identification of tooling, replacement of multiple clamps, marker Marker and clamp cleaning routines, and automatic resetting of the coordinate system, and the like Full-process automation, so as to achieve completely unmanned operation.

[0017] The present application introduces a granite material thermal displacement suppression rack, which fundamentally shields the thermal expansion effect, and can maximize the consistency of repeated accuracy even under high-speed and long-time unmanned processing conditions.

[0018] The present application proposes a precise machining integrated CNC automation system with four-axis control tilting workbench and eight main shaft parallel control structure for the external metal parts of smart watch shell, smart phone frame and other equipment and small frame products, which requires that the repeatability positioning accuracy of the compatible clamp in the machining process does not exceed ±3μm in the high-speed unmanned processing environment.

[0019] Compared with the prior art, the present application has obvious advantages and beneficial effects:

[0020] The present application technically overcomes the systematic bottleneck of the existing BT30 architecture single main shaft general type CNC machining center (Tapping Center, VMC) from the aspects of structure, control and automation, and achieves the following specific technical effects by realizing a multi-main-shaft parallel machining system and a closed-loop unmanned automation production line:

[0021] 1. High-speed unmanned precision machining production efficiency innovation: By integrating eight parallel spindles into a four-axis linkage inclined workbench, the machining efficiency of single-axis VMC equipment is maximally improved by more than 8 times (for example: traditional single-axis CNC machining time is 40 minutes → the standard time of the device is 5 minutes), ISO25 specification high-speed rotating tool holder (rated speed S28,000-32,000 rpm) and 110mm or less ultra-small elliptical rotary tool magazine (10 or more), rotary tool magazine adjustable length design, support multi-process tool requirements and life dispersion tool automatic replacement, by setting the mechanical origin in the X-axis direction of the spindle center, Y-axis direction setting tool changing position, Z-axis realizes the shortest path vertical motion, realizes eight-axis simultaneous tool changing, Tool-to-Tool tool changing time 4 seconds, eight-axis synchronous tool changing average 0.5 seconds / axis.

[0022] 2. Adopting The cylinder is directly installed on the spindle seat and tailstock of the four-axis control inclined workbench, and the cam clamps are arranged in two symmetrical directions, which completely avoids the motion interference with the AGV arm, and also maintains a low gravity center structure when the tool rotates 180°, the repeatability of each jig is realized by using four conical positioning pins, the repeatability of the tool is controlled within ±3μm, the Zero Point structure is combined with the built-in cam clamps in the tailstock to ensure the low gravity tool rotation machining and shockproof performance, and completely solve the AGV arm interference problem, the whole adopts natural granite structure column frame, under the condition of assembling eight-axis spindle, setting the size of the machining equipment column and frame to 800mm, under the condition of temperature rise ΔT=15℃, the theoretical thermal expansion amount ΔL≤0.076mm, compared with the traditional cast iron, the thermal displacement suppression rate is increased by 41.5%, the average error of eight-axis distribution is controlled within 0.0095mm (the actual measurement can be controlled below 5μm).

[0023] 3. Automation platform integration and unmanned production line operation optimization: based on the integrated closed-loop control architecture of CNC-MES-AGV-3D Vision, from jig state recognition → workpiece coordinate automatic integration → automatic loading / unloading → automatic cleaning, realize the whole process unmanned, a single AGV can correspond to eight parallel jig stations, significantly improve the equipment space utilization and synchronous processing capacity, when using four-axis control inclined workbench for synchronous processing of upper and lower inclined surfaces, the processing time can be improved by 2-3 times, therefore a single AGV can control multiple eight-axis equipment (for example: if the overall processing time is 50 minutes, AGV completes all processes in about 10 minutes, then 1 AGV can control up to 5 eight-axis equipment, equivalent to the unmanned efficiency of 40 traditional single-axis equipment), applied to the automatic cleaning cycle (high-pressure cooling liquid, gas, alcohol three-fluid automatic switching) in the AGV loading process, completely clean the residual chips and cooling liquid after processing, improve the recognition rate and positioning accuracy of the 3D vision system.

[0024] 4. Predictive maintenance (Predictive Maintenance) and quality traceability improvement: the information of each tool ID, life, replacement record, jig state, clamping force, etc. is linked with the MES system to realize automatic recording and establish a complete database, support SPC quality control system, third-party certification and SQA factory audit whole-process data traceability management system.

[0025] 5. Industry applicability and scalability benefits: the present application is suitable for the following high-precision small parts large-scale high-speed machining fields: smart watch metal shell, smart phone middle frame (metal material: aluminum, titanium, stainless steel), shaft / connector metal shell, electronic book, wearable device, earphone shell, biological implant grade medical metal parts (Ti-6Al-4V, SUS316L, etc.); through structural improvement of production efficiency, machining precision and automation level, the system can be used as the core equipment platform of the next generation of intelligent manufacturing production line, with global leading technical competitive advantage.

[0026] In order to more clearly illustrate the structural features, technical means and specific purposes and functions achieved by the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall structure of the embodiment of the present application. The perspective view;

[0028] Figure 2 is the front view of the machining equipment of the embodiment of the present application;

[0029] Figure 3 is the partial structure perspective view of the machining equipment of the embodiment of the present application;

[0030] Figure 4 Figure 1 is a partial structural side view of a processing device according to an embodiment of the present application;

[0031] Figure 5 Figure 2 is another partial structural front view of a processing device according to an embodiment of the present application;

[0032] Figure 6 Figure 3 is a partial structural side view of a processing device according to an embodiment of the present application;

[0033] Figure 7 Figure 4 is a partial structural perspective view of a processing device according to an embodiment of the present application;

[0034] Figure 8 Figure 5 is a perspective view of a six-wheel structure composite AGV according to an embodiment of the present application;

[0035] Figure 9 Figure 6 is a perspective view of a four-axis control tilting worktable according to an embodiment of the present application;

[0036] Figure 10 Figure 7 is a perspective view of a four-axis control tilting worktable after the tilting worktable is rotated 180° according to an embodiment of the present application;

[0037] Figure 11 Figure 8 is an exploded view of a four-axis control tilting worktable according to an embodiment of the present application;

[0038] Figure 12 Figure 9 is a cross-sectional view of a four-axis control tilting worktable according to an embodiment of the present application;

[0039] Figure 13 Figure 10 is a sequence diagram of AGV-CNC-MES linkage closed-loop automatic control according to an embodiment of the present application;

[0040] Figure 14 Figure 11 is a signal flow diagram of a clamp having a determination based on an I / O sensor according to an embodiment of the present application;

[0041] Figure 15 Figure 12 is a structure diagram of a marker coordinate automatic calibration system based on 3D visual recognition according to an embodiment of the present application;

[0042] Figure 16 Figure 13 is a software work logic diagram according to an embodiment of the present application;

[0043] Figure 17 Figure 14 is a cache work logic diagram according to an embodiment of the present application;

[0044] Figure 18 Figure 15 is a camera work logic diagram according to an embodiment of the present application;

[0045] Figure 19CNC-MES-AGV+robotic logic diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0046] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory and are not intended to limit the present application. The present application is mainly applicable to, but not limited to, smart watch cases, smart phone middle frames, earphone rotating shafts, e-book cases, biological implant medical parts (such as Ti-6Al-4V titanium alloy, SUS316L stainless steel), etc., and has the high-precision machining process of miniaturization, complex curved surface structure, and repeated positioning accuracy within 3 μm.

[0047] Please refer to Figures 1 to 19 , which shows the specific structure of the embodiment of the present application.

[0048] A four-axis linkage eight-spindle high-speed CNC automation system based on an X-PRIME platform, the system comprising an eight-spindle high-speed machining equipment 10 with a four-axis synchronous control structure, wherein the machining equipment 10 comprises a four-axis control tilting workbench, the four-axis control tilting workbench adopts an integrated built-in single-acting cylinder type fixed workbench structure without T-shaped slot, and the fixed workbench structure is applied to each spindle seat 20 and tailstock 30; the piston rod 50 of the cylinder 40 is horizontally inserted into the cylinder 40 in a left-right symmetrical manner; the cylinder 40 can output bidirectional clamping force not less than 260 kgf under the condition of 5 kgf / cm Two piston rods 50 are horizontally inserted into the cylinder 40 in a left-right symmetrical manner; the cylinder 40 can output bidirectional clamping force not less than 260 kgf under the condition of 5 kgf / cm 2 pressure; the tool clamp 70 is positioned and fixed through four-point taper pins 105, and can realize automatic circulation of clamp loading and unloading by means of a composite AGV, and the repeated positioning accuracy is not more than 3 μm.

[0049] The automatic tool changer (ATC) of the processing equipment 10 is configured with a small-sized rotary tool magazine 80 based on an elliptical connecting rod with a radius of not more than 110 mm; the rotary tool magazine 80 can load not less than 40 ISO25 standard tool shanks; the rotary tool magazine 80 is equipped with more than 40 ISO25 standard tool clamps 81 and arranged by servo indexing; during tool changing, the tool changing action is completed only by moving the spindle 11Z axis of the processing equipment 10, without X and Y axis movement; the rotary tool magazine 80 is an elliptical multi-joint connecting rod structure with two single-unit modules that can be expanded; the average Tool-to-Tool tool changing time is not more than 4 seconds; the elliptical connecting rod structure is configured with expandable tapping holes every two tool positions, realizing modular expansion; compared with the existing tray method, the X / Y axis movement distance is saved by ≥51%; and the tool 82 capacity is designed to be expandable by 2 tool shanks, realizing rapid increase of tools 82 through fixed tapping holes. In addition, the fixed workbench structure is configured with a tool sensor 83 on one side, which can be used for automatic calibration of the length of the tool 82, and the measurement accuracy is controlled within ±0.005 mm.

[0050] During the tool 82 changing process, the spindle 11 of the processing equipment 10 does not move in the X and Y axes, always remains in the fixed origin state, and only moves up and down in the Z axis within 80 mm to realize rapid replacement; the rotary tool magazine 80 adopts an elliptical multi-joint connecting rod structure and is a modular structure, allowing expansion of the number of tools 82, adjustment of the slot and the connecting rod spacing, to provide the structural flexibility required for multi-process production and tool 82 life management, realizing long-time unmanned processing; the rotary tool magazine 80 has preset threaded holes and supports connecting rod expansion, and the tool position can be expanded by 2 units; the rotary tool magazine 80 is configured with 40 tool positions, each of which can be expanded by 2 tool positions. The installation direction of the rotary tool magazine 80 is opposite to the direction of the servo motor on the four-axis control inclined workbench, and a door body is installed, and under the X / Y origin reference of each spindle 11, the tool magazine and the Z axis center position are aligned, and only Z axis up and down movement is used for tool changing; during the tool changing process, the spindle 11 maintains the X / Y position unchanged.

[0051] The rotary tool magazine 80 includes a rotary or multi-joint rotary mechanism based on an elliptical connecting rod; the tool position array radius is not more than half of the X axis width of the tray type tool magazine, the structure is compact, thereby realizing non-interference high-efficiency tool changing and high-speed rotation.

[0052] The processing equipment is linked with the six-wheel compound AGV 101 with the collaborative robot 90; the AGV can complete the clamping and unloading of the tooling fixture with an alignment accuracy of not more than ±0.05 mm, and can identify the tooling fixture state in real time through the 8-channel parallel sensor and the 3D vision system 102, and can realize intelligent control through the MES-AGV closed-loop communication structure. The working station for loading the tooling fixture 70 is equipped with a series of proximity sensors, and when all the 8 tooling fixtures 70 on the working station are sensed to be in place, it is identified as a "complete loading state". On the working station for loading the tooling fixture 70, an 8-channel parallel sensor is configured, and each sensor transmits in real time to the AGV control module through a digital I / O port; the system is used for automatically detecting the tooling fixture 70 state and serving as the basis for AGV judgment; the AGV aligns and corrects the equipment reference coordinate system and the body motion coordinate system; when all the tooling fixture 70 slots on the working station are empty, the 3D vision system 102 scans the mark fixed on the fixture tray, and only when the AGV meets the position alignment condition within ±0.05 mm, the AGV performs the clamping / unloading operation. Here, the AGV is linked with the fixture station combined with the proximity sensor and the 3D vision system 102, and only when the position alignment error is ≤±0.05 mm, the AGV judges whether the fixture 70 is loaded or whether there is an unloading space, and automatically performs the automatic sequence of loading and unloading the fixture 70.

[0053] Four high-pressure multifunctional nozzles 103 are arranged at an interval of 90° around each spindle 11 of the processing equipment 10; the high-pressure multifunctional nozzles 103 can spray cooling liquid, compressed air and alcohol mixed fluid through automatic switching, so as to realize cleaning, cooling and dust removal; the high-pressure multifunctional nozzles 103 can perform non-contact cleaning during Y-axis movement even in the stopped state of the spindle 11, and ensure the stability of repeated accuracy in the compound AGV unmanned machining environment. After machining is completed, the high-pressure multifunctional nozzles switch according to the M08 (cooling liquid), M07 (compressed air) signals and alcohol+compressed air mixed fluid switching commands in the CNC program, and the high-pressure multifunctional nozzles 103 work through the automatic switching system based on solenoid valves, and can perform multifunctional cleaning operations including workpiece marking, tooling and product front face; non-contact high-pressure cleaning is realized under the M code sequence of CNC program M330, M08, M07, M09, etc.; the cleaning objects of the high-pressure multifunctional nozzles 103 include marks, tooling fixtures 70 and product front faces; after the cleaning operation, the AGV will continuously perform the automatic tooling fixture 70 replacement sequence.

[0054] Wherein when the M330 command is sent, the AGV will automatically enter the waiting position 120 seconds before the end of processing; the cooling liquid supply is interrupted after receiving the M09 signal; the M07 command triggers the compressed air mode start; the cleaning range covers the tooling fixture 70, the workpiece and the visual marker; then the AGV continuously executes the unloading and new fixture loading sequence.

[0055] Wherein the high-pressure multifunctional nozzle 103 is linked with the G00 high-speed movement command, that is, even if the spindle 11 stops rotating, the four high-pressure multifunctional nozzles 103 can still spray compressed air during Y-axis movement; the high-pressure multifunctional nozzle 103 can remove chips, oil mist and dust on the workpiece or tooling fixture 70, and maintain the recognition accuracy of 3D vision to the marker.

[0056] The fixed workbench structure is an inclined workbench 106; the inclined workbench 106 is a symmetric low gravity center structure composed of one group of cam clamps 61 in front and back, and when the A-axis is rotated by ±180°, the mass center of the clamp is deviated without deviation from the center of the rotating inclined workbench 106, that is, even if it is rotated to 0° or 180°, the height of the clamp is still kept low, so as to suppress vibration and maintain repeat positioning accuracy in high-speed machining; the upper surface and the lower surface of the inclined workbench 106 are both high-precision machining surfaces, so as to suppress resonance and vibration in high-speed machining.

[0057] The tooling fixture 70 is fixed on the Zero-Point positioning plate 104 (i.e. the inclined workbench 106) on the four-axis controlled inclined workbench; the bottom surface of the tooling fixture 70 is precisely fixed by two left and right point taper pins 105; the cam clamps 61 can be quickly released when the stroke is less than 10mm, and the repeat positioning accuracy of the tooling fixture 70 is kept within 3μm; and there is no external cylinder structure around the tooling fixture 70, so as to optimize the unmanned automatic circulation processing environment supported by the composite AGV robot.

[0058] The column 12 and the frame 13 of the machining equipment 10 are made of natural granite material; the thermal displacement amount of the column 12 and the frame 13 is ΔL≤0.076mm when the thermal expansion coefficient α=6.3×10 -6 / ℃, the temperature rise ΔT=15℃ and the reference length is 800mm; the average thermal deviation of the eight spindles 11 of the machining equipment 10 is ≤0.9μm; compared with cast iron material, the column 12 and the frame 13 made of natural granite material can realize a thermal displacement inhibition effect of more than 41.5%.

[0059] The fixed workbench structure integrally integrates a bidirectional cam driving clamping mechanism 60, the bidirectional cam driving clamping mechanism 60 comprises the air cylinder 40 embedded in the main shaft seat 20 or the tail seat 30 and two piston rods 50; the two piston rods 50 realize bidirectional clamping actions through mechanical linkage with a cam driving shaft 107 or adopt a connecting rod / lever structure; the bidirectional cam driving clamping mechanism 60 covers various deformation structures with equivalent functions and effects.

[0060] The high-pressure multifunctional nozzle 103 mounted on the main shaft 11 can spray mixed fluid of cooling liquid, compressed air, alcohol or other medium through automatic three-stage switching mode, the high-pressure multifunctional nozzle 103 performs multifunctional tasks such as cleaning, cooling and dust removal; the high-pressure multifunctional nozzle 103 can spray mixed fluid of alcohol and compressed air when cleaning marks; in the diamond cutting process or unmanned machining environment, the high-pressure multifunctional nozzle 103 can maintain stable repeated precision through cleaning, thereby forming a multifunctional nozzle structure.

[0061] The machining equipment 10 is provided with a cutting and deburring integrated device, the cutting and deburring integrated device comprises an inner diameter A ruby nozzle 201 (Ruby Orifice Nozzle), the cutting and deburring integrated device further comprises a double-rod air cylinder 202 with a stroke of 300mm, a high-pressure hose connection joint 203, a medium-high pressure flexible hose 204, the medium-high pressure flexible hose 204 is connected with a fluid pipeline, and the high-pressure hose connection joint 203 is a fluid interface mounted on the main shaft 11.

[0062] The present application is equipped with eight high-speed machining equipment with eight main shafts of eight sets of four-axis controlled inclined workbenches, and a ruby nozzle 201 is mounted on each main shaft, so that the burr removal process can be performed in the same coordinate system.

[0063] In the normal machining process, the cooling liquid pump is started through the M08 instruction, and the cooling liquid is used for tool cooling at a pressure of 0.35-0.55 MPa. After the machining is completed, the cooling liquid is switched to the deburring circuit through the M10 instruction.

[0064] The ruby nozzle can selectively switch between the cooling liquid circuit and the deburring circuit through a high-speed response electric control solenoid valve (Solenoid Valve);

[0065] The switched cooling liquid successively passes through:

[0066] ① A multi-stage precision filter (Precision Multi-Stage Coolant Filter) removes particulate impurities,

[0067] ②Pulsation Damper stabilizes flow,

[0068] ③High-Speed Pulse Jet Solenoid Valve,

[0069] ④Medium-High Pressure Flexible Hose 204 delivers to Ruby Nozzle 201 to High-Speed Jet, and forms an integrated high-pressure coolant circuit;

[0070] Under CNC control signals:

[0071] When receiving M08 instruction, execute cooling function;

[0072] When receiving M10 instruction, automatically switch to deburring circuit and execute high-pressure jet function after machining under the same coordinate system;

[0073] Deburring process is real-time synchronized with tilt control of four-axis controlled tilt worktable, and high-speed jet is performed under the optimal jet angle of 35°-45°, so that micro-burr can be directly removed at nano injection molding part of smart watch and smart phone frame, without additional independent high-pressure deburring equipment, and the integrated coolant system of cutting and deburring is realized.

[0074] Compared with prior art, at present, the deburring methods after machining of smart watch and smart phone frame mainly include dry ice processing (Dry Ice Blasting) and high-pressure pure water cooperating with four-axis fixed device. However, the present application can realize continuous operation of machining and deburring in the same coordinate system inside eight-axis four-axis linkage high-speed machining equipment, and deburring can be immediately completed without additional tooling; therefore, production efficiency can be improved, process can be reduced, and precision and reliability can be improved.

[0075] The MES-CNC-AGV (including robot) automatic linkage system of the present application can be applied to high-speed machining machine (8-axis / 5-axis 4-head), multi-axis automatic production line, the communication mode is CNC MES (OPCUA), MES AGV (WebAPI), and the working process is as follows:

[0076] 1, S1: MES issues operation instruction;

[0077] 2, S2: AGV call and in-place confirmation;

[0078] 3, S3: CNC door unlocking → robot feeding and discharging;

[0079] 4, S4: Clamping / fixation after starting processing;

[0080] 5, S5: CNC state feedback (processing time, alarm);

[0081] 6, S6: Processing is completed → MES notification;

[0082] 7, S7: AGV unloading → finished product rack feeding;

[0083] 8, S8: MES monitoring / Andon board feedback;

[0084] Its running scenario can be:

[0085] 1, M330 → MES issued work instruction → call AGV;

[0086] 2, AGV carrying raw materials to CNC → door unlocking;

[0087] 3, Robot feeding is completed and clamping is confirmed → MES issues processing start command;

[0088] 4, CNC Cycle Start → Cycle End signal is issued after processing is completed;

[0089] 5, AGV unloading → carrying to finished product rack → MES completion report.

[0090] As Figure 13 shown in the AGV-CNC-MES linkage closed-loop automatic control sequence diagram, it needs to be explained that: S3: M330 (AGV call) signal → AGV is dispatched through MES;

[0091] S4: Clamping completion signal = upper series 8-way sensor AND condition is met;

[0092] S5: 3D vision recognition mark and synchronous coordinate system;

[0093] D2 = No: M07 (air) → M08 (cooling liquid) sequential cleaning and re-identification;

[0094] S7: After the lower parallel 8-way sensor confirms the empty space, it performs carrying;

[0095] Cycle: S8 → return to S2, keep closed-loop operation.

[0096] As Figure 14As shown in the flowchart of the clamping device with or without a determination signal based on I / O sensors, it should be noted that: S1: The AGV arrives at the designated clamping position according to the MES scheduling.

[0097] S2: Eight proximity sensors are connected in series at the top to detect the status of the fixture to be processed;

[0098] D1 = No: If any series sensor fails to detect the fixture, an alarm will be triggered immediately and the process will be stopped.

[0099] S3: Lower parallel proximity sensor detects the status of the fixture in the unloading area;

[0100] D2 = Yes: When there is already a fixture in the unloading area, output a occupancy signal and wait / retry;

[0101] S4: When the detection result is empty, output the fixture ready signal;

[0102] S5: After receiving the ready signal, the CNC / MES automatically enters the clamping or machining process.

[0103] like Figure 15 As shown in the structure diagram of the automatic calibration system for marker coordinates based on 3D vision recognition, it should be noted that: S1: Standardized markers (such as AprilTag / QR codes) are installed inside the device and a reference coordinate system is set;

[0104] S2: The AGV is scheduled by MES to reach a location near Zero-Point;

[0105] S3: The industrial camera uses a high-resolution mode to acquire marked images;

[0106] S4: Features such as corners and edges are extracted using visual algorithms for localization;

[0107] S5: Coordinate transformation algorithms (such as PnP, ICP) transform the camera coordinate system to the machine tool coordinate system;

[0108] D1 = No: When the deviation exceeds ±Xμm, the compensation amount is calculated in real time;

[0109] Update docking coordinates: Write the correction results to the CNC controller and AGV control unit;

[0110] S6: After coordinate locking, enter production safety mode;

[0111] S7: CNC receives updated coordinates and waits for the machining task to start.

[0112] To implement the present application, it is necessary to integrate the four-axis linkage control tilt table 106 and eight sets of high-speed parallel spindle 11 units on the X-PRIME platform, and follow the precise assembly process of the low gravity structure and the integrated main shaft seat 20 (Headstock) and tailstock 30 (Tailstock) inside the tilt table 106, according to the following steps:

[0113] Step 1, mechanical base and frame 13 installation: install the frame 13 and column 12 made of natural granite material, which must be calibrated to within ±3μm, and use a digital inclinometer and laser tracker to set up a three-dimensional reference coordinate system. The granite frame 13 is fastened in a pre-tensioned reinforcement and multipoint mounting manner to achieve low-frequency vibration damping and thermal displacement suppression.

[0114] Step 2, install eight parallel spindle units: choose high-speed electric spindles compatible with ISO25 standard taper shank tool holders, which can operate stably at rated speed S32,000rpm for a long time, and the center distance between spindles is maintained at 225mm, installed in parallel along the high-precision linear guide way (Precision Linear Guideway). When installing, a high-precision 2μm tester should be used to detect the coaxiality of the spindles ≤±3μm and the center position deviation ≤±0.002mm.

[0115] Step 3, four-axis control tilt table and tool clamp structure assembly: configure a set of A-axis linkage tilt table 106 under each spindle, the table body adopts low gravity design to enhance the stability of the machine body, and install a compatible tool base plate (Zero-Point Alignment Base) on the tilt table 106, the main shaft seat 20 and tailstock 30 are integrated Single-acting cylinder Double piston rod 50 + cam clamp 61 (Cam-Driven Clamp Assembly).

[0116] Step 4, center alignment and synchronous interpolation accuracy verification: the center coordinates of all tilt tables 106 are based on the CNC controller, the calibration error is ≤±2μm, the A-axis interpolation control range is ±180°, the angle control accuracy is ≤±0.01°, and the precise test indicator on the spindle is used to ensure the tool repeatability positioning accuracy ≤±2μm.

[0117] Step 5, AGV linkage reference position and marker coordinate system alignment design: the reference point of the AGV automatic loading / unloading tool is set at the 3D vision recognition fixed marker (Fixed Marker for Vision Recognition) below the front of the equipment table. The coordinate system of the AGV vision system should be aligned with the marker with an accuracy of ≤±0.05mm, and dynamic matching is performed by the AGV internal vision correction algorithm.

[0118] Step 6, CNC-MES system joint debugging test and trial operation process: after assembly, set the connection between CNC and MES based on OPC-UA protocol, after 120 seconds of processing, CNC issues M330 instruction, MES receives and synchronously sends wireless dispatch signal to AGV; after processing, according to the automatic cleaning process, execute in turn: M08 high pressure coolant cleaning→M07 air blowing cleaning→vision detection whether clean; after artificial inspection confirms that the tool, parts and vision markers have no residual chips / lubricant, AGV automatically executes the unloading program according to priority; finally, after confirming that eight sets of tools have been fixed on the Zero-Point and the 3D vision coordinate is aligned normally, perform function verification trial processing in unmanned processing mode.

[0119] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform described in the application, in order to achieve a repeat accuracy of ±3μm or less in the process of high-speed unmanned precision machining, uses the method of fixing the fixture (Fixture) installed on each machining workbench according to the high-precision positioning reference "Zero-Point method", and constructs an automatic replacement system with consistent repeat positioning. The following are the fixture installation and alignment steps applicable to the application:

[0120] Step 1, compatible fixture design and Zero-Point reference hole definition: all fixtures need to process 4 or more high-precision tapered dowel pin 105 insertion holes on the reference base plate (Base Plate), which must be designed consistently with the Zero-Point coordinate system on the machine tool workbench. The spacing and center coordinates between each hole must be processed within 2μm accuracy to ensure complete fitting and tight alignment with the tapered dowel pins 105 inserted into the headstock 20 and tailstock 30.

[0121] Step 2, tilt workbench 106 upper surface reference plane processing and center alignment: on the four-axis control tilt workbench rotary disc upper surface processing high-precision processing reference plane (Machined Datum Plane) for clamp installation, which needs to be measured using a 2μm precision test indicator installed on the spindle, so that the center error is controlled below 0.002mm; align the reference with the A-axis 0° position as the base point, and set the Z-axis direction center as the reference to keep the clamp center without displacement within the ±180° rotation range; at the same time, the concentricity between the rotary axis center and the angle center line needs to be controlled within 3μm.

[0122] Step 3, cam clamp 61 + conical positioning pin 105 composite structure: spindle holder 20 and tailstock 30 inside built-in Single-acting air cylinder 40, symmetrical configuration Piston rod 50 is connected with respective cam clamp 61; the clamp is fixed by 4 conical positioning pins 105, and the clamping action is performed by cam clamp 61 when piston rod 50 is advanced, and the clamp is quickly released by cam clamp 61 action when piston rod 50 retreats; the clamping contact surface and the clamp contact plane should be kept horizontal and fixed, which needs to be confirmed by naked eye or level whether the clamping is stable and reaches the horizontal state.

[0123] Step 4, AGV automatic clamp replacement auxiliary alignment structure: all clamp bases need to be pre-installed with grip handle interfaces consistent with the AGV mechanical hand clamp jaw coordinates, and their centers of gravity need to be consistent with the AGV movement center line; NPN type proximity sensors are configured inside the clamp workstation, and when all 8 clamps are sensed in place, the MES system recognizes as "loading complete"; the empty position sensing after disassembly is detected in real time by parallel type lower sensors to realize the status confirmation after clamp unloading.

[0124] Step 5, repeated positioning guarantee and periodic calibration procedure: all clamps are attached with ±3μm repeatability certificate when leaving the factory, and it is stipulated to perform repeatability calibration every 1000 cycles; when calibrating, fix the test indicator on the spindle, install the clamp on the workbench, read and record the positioning coordinate value in HMI or MES system, then compare and correct with the initial standard value.

[0125] The fixture mounting and alignment method adopted by the present application can stably control the repeated positioning error within ±3μm by realizing the integrated design of the workbench, fixture and AGV three-party coordinate system structure, and can maintain high precision and realize high reliability of automatic processing even under the condition of multi-axis high-speed unmanned processing.

[0126] The present application pre-constructs a high-pressure cleaning sequence and automatic switching control process suitable for each process stage to address factors that may affect quality such as chip residue, cooling fluid splashing, fixture contamination, and visual marker contamination during high-speed continuous processing in an unmanned state. In particular, in a multi-axis linkage processing system, considering the complexity of the fixture and product shape, the possibility of residual particles and fluid cross-contamination after processing, the following high-pressure multi-fluid injection sequence is applied:

[0127] Step 1, high-pressure multifunctional nozzle 103 structure: 4 independent high-pressure multifunctional nozzles 103 are installed on each spindle, a total of 32 nozzles are configured for eight axes, each nozzle can switch according to the automatic program to perform cooling fluid injection (M08), air blowing (M07), cooling fluid + air mixed injection (M330), alcohol cleaning (optional module), and the nozzle control is composed of a multi-fluid switching control system based on electromagnetic valve and NC control.

[0128] Step 2, automatic cleaning process after processing is completed: after processing is completed, the CNC controller sends M330 signal to notify MES that processing is completed and requests AGV, and the following automatic cleaning sequence is executed:

[0129] First stage: cooling fluid injection (M08), remove solid chip particles;

[0130] Second stage: air blowing (M07), remove surface residual oil film;

[0131] Third stage: air + alcohol mixed injection (mixed control), clean visual markers and fixture surface;

[0132] Fourth stage: cut off cooling fluid (M09), blow off residual gas, confirm sensor state recovery.

[0133] Step 3, linkage with AGV and automatic handling: after cleaning is completed, AGV enters the equipment area according to the priority command issued by MES, reads the fixture state signal, and automatically executes the unloading / loading operation. AGV determines whether to perform the loading action through the proximity sensor and I / O signal of the fixture station to determine whether the fixture is unlocked and whether there is chip residue, and then the visual camera performs secondary confirmation on the marker point position.

[0134] Step 4: High-precision repeat machining process switching: After the AGV completes loading, the MES issues new process instructions to the CNC, automatically compares the end coordinates of the previous process with the starting coordinates of the new process, and performs coordinate system correction. After receiving the AGV Clear signal, the CNC finally confirms the Zero-Point positioning and clamping state of the fixture, and starts the processing flow of the next process.

[0135] The cleaning and switching process is suitable for multi-axis automated equipment with a composite AGV structure. In a high-speed continuous operation environment, it minimizes product, fixture, and visual marker contamination, while avoiding fluid cross-contamination, ensuring processing accuracy, improving marker recognition rate, and ensuring consistent positioning between processes, providing an intelligent closed-loop cleaning and conversion control system.

[0136] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform is suitable for simultaneously achieving repeat accuracy, equipment reliability, and production stability in an unmanned precision machining environment. Based on the real-time linkage structure of the MES (Manufacturing Execution System), it integrates process history automatic recording, tool life tracking, abnormal alarm, and predictive maintenance modules. The specific management method is as follows:

[0137] 1. Automatic storage structure of each process history

[0138] All product unit processing records are automatically stored in the MES server and form a process log (Log History) based on the following items:

[0139] I. Processing start / end time;

[0140] II. Tool_ID and Tool Life (cumulative use time, cumulative cutting distance, etc.) used;

[0141] III. Clamping and releasing time log;

[0142] IV. LOT information, reference coordinate value, and correction record of the product being processed;

[0143] The main M codes (M08, M07, M330, etc.) generated by the CNC and the AGV linkage signals are sent to the MES in real time through the OPC-UA protocol. All process histories are accumulated and stored in time sequence.

[0144] 2. Tool life prediction and replacement suggestion system

[0145] Each tool needs to input Tool_ID, tool type, material, and applicable process information in the MES when it is first registered. The cumulative time and cutting distance of actual use will be used as the basis for calculating tool life.

[0146] When the cumulative usage exceeds 85%, MES automatically sends a replacement suggestion to the operator or supervisor; when 100% is reached, a forced replacement logic will be activated;

[0147] The replacement history will be automatically recorded, and the replaced Tool_ID and the RFID code of the replacement personnel will be stored synchronously;

[0148] Based on the tool wear state, for example, the tool life is 1000 products, the system can automatically call the spare tool in the tool magazine for replacement to maximize the unmanned automatic operation time.

[0149] 3. Jig repositioning accuracy calibration logic

[0150] Every 1000 cycles, the Zero-Point reference deviation of each jig is measured, and if an error exceeding ±3μm is detected, MES will output a correction request and automatically switch the current process to "stop" or "inspection" mode; the corrected value will be recorded in the MES database and can be used as reference data for subsequent SPC quality statistics or SQA audit response.

[0151] 4. Predictive Maintenance (Predictive Maintenance) integration module

[0152] The main components in the equipment, such as air cylinders, cam clamps, spindle bearings, tool magazine servo motors, cooling devices, etc., will have their maintenance cycles calculated based on sensors or cumulative action times;

[0153] When each component reaches the preset cycle or time, MES will automatically generate a maintenance appointment warning, with three levels of "attention - need to check - maintenance delay risk";

[0154] MES will analyze the failure rate and early warning failure mode of each component based on historical history data to improve the accuracy of future failure prediction.

[0155] 5. Data visualization and history-based quality response

[0156] On the MES dashboard, real-time processing status, equipment utilization rate, process cycle time, tool remaining life, etc. can be displayed, and visualized in chart form;

[0157] Support for generating SQA audit files in PDF format for the entire process history, and with single product LOT level tracking function;

[0158] When a quality anomaly occurs, the system can trace the processing data, tools used, jigs used, coordinate correction records, etc. in that time period, achieving full-process traceability (Traceability).

[0159] The MES linkage type history management and predictive maintenance structure constructed by the application can uniformly manage the states of fixtures, tools and equipment in a multi-axis high-speed unmanned machining environment, achieve the goals of improving production efficiency, ensuring quality traceability, minimizing downtime, preventing equipment failure and the like, and thus achieve the operation stability of an intelligent factory.

[0160] The X-PRIME platform-based four-axis linkage eight-spindle high-speed CNC automation system realized by the application realizes the automatic control of the whole process of fixture replacement, process start and end identification, cleaning program execution and coordinate system calibration without manual intervention through the AGV-I / O closed-loop linkage structure optimized for a high-speed unmanned machining environment. The sequence control is based on the following phased operation process and control structure:

[0161] 1. I / O-based AGV fixture loading / unloading judgment structure

[0162] Each fixture station of each device is configured with 16 proximity sensors:

[0163] (1) Series sensors (8) used to detect the fixture loaded state before the process;

[0164] (2) Parallel sensors (8) used to identify the empty station state after the process;

[0165] The series sensors output a "fixture loading complete" signal when the Sensor1 AND Sensor2 AND...AND Sensor8 condition is met; the parallel sensors judge the "empty position" state through the NOT(Sensor1 OR Sensor2 OR...OR Sensor8) logic;

[0166] The above sensor signals are transmitted to the AGV system in the form of digital input (DI) through the I / O module, and the AGV judges whether to enter the next process according to the input signal.

[0167] 2. AGV automatic entry and fixture replacement sequence

[0168] (1) MES→ sends process instructions to CNC;

[0169] (2) CNC→ sends M330 instructions (2 minutes before the end of processing, calls AGV);

[0170] (3) MES→ sends a call signal to AGV;

[0171] (4) AGV→ reads I / O sensor data (detects whether the fixture is empty or not empty);

[0172] (5) AGV→ enters the fixture station and starts the unloading program;

[0173] (6) After the unloading is completed, the "empty position" state is confirmed through the parallel sensor;

[0174] (7) AGV→ enters the loading station and loads a new fixture;

[0175] (8) After the loading is completed, the "loading completed" state is confirmed through the serial sensor;

[0176] (9) AGV→ sends a fixture loading completion signal to the CNC;

[0177] (10) CNC→ executes the M07 / M08 cleaning program (air→ coolant→ air);

[0178] (11) AGV leaves→ reports completion to the MES→ starts the next machining process.

[0179] 3. AGV-I / O signal flow summary table

[0180] Control phase Signal type Sending subject Receiving object Clamp with no detection DI (proximity sensor) I / O module AGV M330 instruction sending M code CNC MES / AGV AGV calling OPC-UA data MES AGV Clamp replacement completion notification DI / DO AGV CNC / MES Cleaning program execution M08 / M07 / M09 CNC Nozzle unit

[0181] 4. High-speed unmanned machining application effect

[0182] Based on 8 spindles x 8 fixtures, the fixture replacement and cleaning time is controlled to be within 20 seconds on average;

[0183] The total time of the automatic fixture replacement + cleaning + coordinate alignment process is not more than 300 seconds;

[0184] The AGV realizes complete unmanned fixture replacement through autonomous judgment logic and sensor linkage mechanism;

[0185] The coordinate alignment error is maintained within ±0.05 mm in the repeated process, ensuring the continuous operation of high-precision unmanned machining.

[0186] The AGV-I / O linkage automatic control structure adopted by the application realizes real-time recognition of the fixture state through a proximity sensor, and the AGV internal judgment logic controls automatic action, establishes a CNC-MES-AGV closed-loop communication system, thereby realizing a high-speed, high-precision automatic unmanned machining system, significantly improving the fixture replacement efficiency, ensuring the coordinate accuracy, reducing manual participation, and realizing process stability and sustainability in a multi-axis intelligent manufacturing environment.

[0187] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform has been successfully developed and put into use in the actual high-speed precision unmanned machining environment, and the structural design can realize large-batch and high-stability automatic production. The technical implementation method and process will be described in detail through specific embodiments as follows:

[0188] 1. Applicable parts and processing conditions

[0189] Applicable product types:

[0190] Smart watch shell (AL7N03-T6, Ti-6Al-4V, SUS316L), smart phone frame, wearable device hinge parts, e-book shell, medical titanium alloy implant, etc.

[0191] Basic material conditions:

[0192] AL7N03-T6 / Ti-6Al-4V / SUS316L

[0193] Pre-processing thickness: not more than 10mm

[0194] Required accuracy:

[0195] Dimensional tolerance ±0.03mm

[0196] Repeat positioning accuracy ±3μm

[0197] Surface roughness Ra 0.3 or less

[0198] Tool configuration example:

[0199] 1mm-3mm helical two-blade / three-blade / four-blade milling cutter

[0200] Ball end mill, finishing drill, M1.0 / M1.2 / M1.4 thread tap

[0201] Special roughing milling cutter, etc., a total of 22 kinds of tools

[0202] 2. Automatic process flow diagram

[0203] (1) CNC-MES linkage processing start:

[0204] Issue work order by MES → CNC receive → job personnel login through RFID

[0205] (2) AGV automatic clamp loading:

[0206] 120 seconds before processing is completed, CNC sends M330 instruction → AGV completes accurate clamp loading through 3D vision alignment → 8 sensors on the clamp station confirm that all clamps are in place ("full load" state)

[0207] (3) Processing process:

[0208] Eight main shafts perform high-speed processing at the same time

[0209] The first process takes about 5 minutes (about 40 minutes saved compared with traditional single-spindle equipment);

[0210] High-speed precision machining of aluminum / titanium alloy is carried out at S28,000 rpm by using a 1mm diameter milling cutter;

[0211] (4) Automatic cleaning process:

[0212] M08→ high-pressure coolant flushing;

[0213] M09→ stop flushing;

[0214] M07→ air-blow cleaning of workpiece marking and clamps;

[0215] (5) AGV automatic unclamping and next batch clamping:

[0216] Complete unloading→ confirm empty position through parallel sensors→ load new clamps→ automatic positioning based on Zero-Point→ start next batch machining process.

[0217] 3. Key performance test comparison of the system

[0218]

[0219]

[0220] Through this embodiment, it can be proved that the application has comprehensively solved the technical bottlenecks of traditional FANUC and BROTHER series single-spindle machining equipment 10 in the following aspects:

[0221] The application of an elliptical rotary tool magazine 80 structure with a radius R of less than 110mm realizes non-interference arrangement between tools and supports the installation of more than 40 tools;

[0222] Complete linkage with AGV to realize unmanned fixture replacement process;

[0223] Four-axis control of the inclined workbench control and eight-spindle parallel machining are combined to realize multi-surface synchronous efficient machining;

[0224] Due to the extension of machining time, a single AGV can efficiently control multiple devices→ optimize the beat, and minimize the loading / unloading waiting time.

[0225] In summary, the application not only completes verification in an experimental environment, but also realizes unmanned automation operation under mass production conditions. It can be used as the core equipment platform of the next generation of high-speed precision metal part manufacturing line, and has the industrialization popularization value of high speed, high precision and high reliability.

Claims

1. A four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform, characterized in that: The system includes an eight-spindle high-speed machining center with a four-axis synchronous control structure. This machining center includes a four-axis controlled tilting table, which employs an integrated, built-in, single-acting cylinder-type fixed table structure without T-slots. The cylinder's inner diameter is... two The piston rods are inserted horizontally and symmetrically into the cylinder; the cylinder operates at 5 kgf / cm². 2 Under air pressure conditions, it can output a bidirectional clamping force of no less than 260 kgf; the tooling fixture is positioned and fixed by four-point tapered pins, and can achieve automatic cycle loading and unloading of the fixture with the help of a composite AGV, and the repeatability of the positioning accuracy does not exceed 3 μm.

2. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The fixed worktable structure is an inclined worktable; the inclined worktable is a symmetrical low center of gravity structure composed of a set of cam clamps at the front and rear. When the A-axis rotates ±180°, the center of mass of the fixture remains consistent with the center of the rotating inclined worktable without deviation; the upper and lower surfaces of the inclined worktable are high-precision machined surfaces to suppress resonance and vibration during high-speed machining.

3. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The automatic tool changer (ATC) of the machining equipment adopts a small rotary tool magazine with a radius of no more than 110mm based on an elliptical linkage. The rotary tool magazine can hold no less than 40 ISO25 standard tool holders, and the average tool-to-tool change time does not exceed 4 seconds. The tool change action is completed solely by the Z-axis movement of the machining equipment spindle, without generating X or Y axis movement. The rotary tool magazine is an expandable elliptical multi-joint linkage structure with two unit modules.

4. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 2, characterized in that: The processing equipment is linked with a six-wheeled composite AGV equipped with a collaborative robot; the AGV can complete the clamping and unloading of tooling fixtures with an alignment accuracy of no more than ±0.05mm, and can identify the status of tooling fixtures in real time through an 8-channel parallel sensor and a 3D vision system, while realizing intelligent control through the MES-AGV closed-loop communication structure.

5. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 4, characterized in that: The tooling fixture is fixed to the Zero-Point positioning plate. The bottom surface of the tooling fixture is precisely positioned by two tapered pins on each side. The cam clamp can achieve high-speed release when the stroke is less than 10mm. The repeatability of the tooling fixture is maintained within 3μm. There are no external cylinder structures around the tooling fixture, thus optimizing it for the unmanned automatic cyclic processing environment supported by the composite AGV robot.

6. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The columns and frame of the processing equipment are made of natural granite. Under the conditions of a reference length of 800 mm and a temperature rise of ΔT = 15 °C, the thermal displacement of the columns and frame is ΔL ≤ 0.076 mm. The average thermal deviation of the eight spindles of the processing equipment is ≤ 0.9 μm. Compared with cast iron, the columns and frame made of natural granite can provide a thermal displacement suppression effect of not less than 41.5%.

7. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The fixed worktable structure integrates a bidirectional cam-driven clamping mechanism, which includes a cylinder and two piston rods embedded in the spindle seat or tailstock. The two piston rods achieve bidirectional clamping action through mechanical linkage with the cam drive shaft or by adopting a linkage / lever structure. The bidirectional cam-driven clamping mechanism encompasses various modified structures with the same function and effect.

8. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: Four high-pressure multi-functional nozzles are arranged around each spindle of the processing equipment at 90° intervals. The high-pressure multi-functional nozzles can spray a mixture of coolant, compressed air and alcohol through automatic switching, thereby achieving cleaning, cooling and dust removal. The high-pressure multi-functional nozzles can perform non-contact cleaning during Y-axis movement even when the spindle is stopped, ensuring repeatability and stability of accuracy in the unmanned processing environment of the composite AGV.

9. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 8, characterized in that: The high-pressure multi-functional nozzle operates through an automatic switching system based on solenoid valves, according to the M08 (coolant) and M07 (compressed air) signals and mixed fluid switching instructions of the CNC program. It can perform multi-functional cleaning operations, including workpiece marking, tooling, and product front cleaning.

10. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 8, characterized in that: The processing equipment is equipped with an integrated cutting and deburring device, which includes an inner diameter mounted on each spindle of the processing equipment. Ruby Orifice Nozzle, which can selectively switch between coolant circuit and deburring circuit via a high-speed response solenoid valve; The switched coolant passes through the following channels in sequence: ① A multi-stage precision filter removes particulate matter. ② The pulsation damper stabilizes the flow. ③ High-Speed ​​Pulse Jet Solenoid Valve ④ The medium-high pressure flexible hose delivers the coolant to the ruby ​​nozzle, forming an integrated high-pressure coolant circuit; Under CNC control signals: When the M08 command is received, the cooling function is activated; When the M10 command is received, the circuit will automatically switch to the deburring circuit and execute the high-pressure jetting function after the machining is completed in the same coordinate system. The deburring process is synchronized in real time with the tilt control of the four-axis controlled tilting table, and high-speed spraying is carried out at the optimal spray angle of 35° to 45°. This allows for the direct removal of micro-burrs from the nano-injection molding areas of smartwatches and smartphone frames without the need for additional high-pressure deburring equipment, thus achieving an integrated cooling system for cutting and deburring.

Images