Self-made small five-axis numerical control machine tool teaching equipment and operation method thereof

Abstract

The invention provides self-made small five-axis numerical control machine tool teaching equipment and an operation method thereof, and relates to the technical field of numerical control machining teaching equipment. A main shaft system and a clamp are arranged on the five-axis movement system; a transparent safety protection cover is arranged on the peripheral side of the five-axis movement system in a covering manner; a plurality of cameras are arranged on the five-axis movement system or the safety protection cover; the control system is respectively connected with the plurality of cameras, the main shaft system, the clamp and the five-axis movement system; according to the invention, an open modular structure is adopted, key moving parts and a processing process are completely exposed or visible through the transparent protective cover, so that a teacher can explain step by step and observe at a short distance with students; the machine tool body is made of light-weight materials such as aluminum alloy or engineering plastics, an open source numerical control system and standardized electromechanical components are combined, and on the premise that the basic teaching function is guaranteed, the manufacturing cost and maintenance complexity of equipment are greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of numerical control machining teaching equipment, and particularly relates to a self-made small five-axis numerical control machine tool teaching equipment and an operation method thereof. BACKGROUND

[0002] At present, in the field of numerical control machining technology teaching, the existing numerical control machining teaching equipment is mainly based on the orthogonal three-axis Cartesian coordinate system, and the kinematic chain structure thereof is relatively simple. Although the numerical control machining teaching equipment can meet the basic plane and simple curved surface machining demonstration, the introduction of the rotary shaft is lacked, so that the numerical control machining teaching equipment cannot reproduce the multi-axis linkage machining trajectory of the complex spatial curved surface from the physical layer, and students cannot intuitively understand the dynamic coupling relationship between the tool vector and the workpiece coordinate system. On the other hand, in order to ensure the machining precision and cutting rigidity of microns, the industrial five-axis linkage machine tool generally adopts a high-strength cast iron bed and a complex double swing head or rotary table structure. The heavy mechanical structure based on the high-load working condition design objectively causes the equipment to be large in size and high in energy consumption. Moreover, the control system of the industrial five-axis linkage machine tool adopts a closed bottom algorithm, which encapsulates the key kinematics conversion logic, so that the RTCP (rotary tool center point) function of the five-axis linkage cannot be monitored and verified in real time in the teaching scene. Therefore, there is an urgent need for a small five-axis numerical control experimental platform which can abandon the redundant rigidity design of the industrial five-axis numerical control machine tool, has an open kinematics structure, and can intuitively demonstrate the principle of multi-axis interpolation algorithm. SUMMARY

[0003] The present application provides a self-made small five-axis numerical control machine tool teaching equipment and an operation method thereof, which aims to solve the problem that the existing industrial five-axis numerical control machine tool is large in size and complex in operation, and is not suitable for use in general teaching laboratories.

[0004] In a first aspect, the present application provides a self-made small five-axis numerical control machine tool teaching equipment, wherein a machine tool main body of the equipment is provided with a five-axis motion system and a control system; the five-axis motion system is provided with a spindle system and a clamp; a transparent safety shield is arranged on the periphery of the five-axis motion system; a plurality of cameras are arranged on the five-axis motion system or the safety shield; and the control system is connected with the plurality of cameras, the spindle system, the clamp and the five-axis motion system respectively.

[0005] Further, the machine tool main body is made of aluminum alloy or engineering plastic.

[0006] Further, the five-axis motion system comprises three linear-axis systems and two rotary-axis systems. The three linear-axis systems are an X-axis system, a Y-axis system and a Z-axis system, and the Y-axis system is arranged correspondingly to the X-axis system; and the Z-axis system is arranged on the Y-axis system.

[0007] Furthermore, the base of the Z-axis system is fixed on the machine tool body; a fixed platform is provided on the base; a rear plate and two symmetrically arranged I-shaped support plates are provided on the fixed platform; side T-shaped plates are symmetrically arranged on both sides of the rear plate; a top plate is installed above the two side T-shaped plates; a sleeve is installed above the top plate; a coupling is placed inside the sleeve; a vertical motor is installed above the sleeve; the vertical motor is connected to the ball screw through the coupling; a support block is located between the two side T-shaped plates to support the movement of the ball screw; guide rails are installed on the two side T-shaped plates respectively; two sliders are installed on each guide rail; a first sliding table is installed above the sliders, and the first sliding table is threadedly connected to the ball screw.

[0008] Furthermore, the slide base of the Y-axis system is fixed on the machine tool body; two support platforms are installed on the slide base to support the ball screw of the slide base, a base motor is installed on a boss on one side of the ball screw of the slide base, and the second slide is threadedly connected to the ball screw of the slide base.

[0009] Furthermore, the vertical slide rail base plate of the X-axis system is fixedly connected to the second sliding table, a worktable guide rail is installed above the vertical slide rail base plate, a worktable support block is installed between the two worktable guide rails, a worktable ball screw is placed between the worktable support block, the worktable ball screw passes through the motor base and is connected to the worktable motor, a vertical moving block is connected to the worktable ball screw, a bottom water tank seat is installed above the vertical moving block, and a combined fixture worktable is installed above the bottom water tank seat.

[0010] Furthermore, the two rotary axis systems are configured such that a fixed base is installed on one side of the slotted worktable of the combined fixture, a motor flange is installed on the upper part of the fixed base, and a rotary motor is connected to one side of the motor flange. A harmonic reducer is installed on the other side, and the harmonic reducer is fixedly connected to the connecting plate. The front end of the connecting plate is connected to the fixture, and the rear end of the connecting plate is fixedly connected to the servo motor by bolts.

[0011] Furthermore, the main spindle system slide table is equipped with a robot arm bracket, a robot claw sleeve is installed above the robot claw bracket, a robot claw coupling is installed inside the robot claw sleeve, a robot claw motor is installed above the robot claw sleeve by bolts, a drill chuck is connected below the robot claw bracket by bolts, the robot arm bracket is installed on one side of the robot claw bracket, and a gripper is installed below the robot claw bracket.

[0012] Secondly, the present invention provides an operation method for a self-made small five-axis CNC machine tool teaching device, the operation method comprising the following steps: S1: Clamp the workpiece on the fixture and install the tool on the spindle system; S2: Load a machining task into the control system. The machining task includes a CNC program that controls the five-axis motion system, spindle system and fixture to perform linkage machining. S3: start processing, the control system drives the five-axis motion system and the spindle system to perform processing actions according to the numerical control program, and simultaneously performs real-time shooting and monitoring on the processing process through the plurality of cameras; S4: after the processing is completed, stop the equipment and unload the workpiece.

[0013] Compared with the prior art, the present application has the following beneficial effects: 1. The equipment of the present application is designed for teaching scenarios, adopts an open modular structure, and the key moving parts and processing process are completely exposed or visible through a transparent protective cover, which facilitates step-by-step explanation by teachers and close observation by students.

[0014] 2. The machine tool body of the present application adopts lightweight materials such as aluminum alloy or engineering plastic, combined with an open-source numerical control system and standardized mechanical and electrical components, which greatly reduces the manufacturing cost and maintenance complexity of the equipment under the premise of ensuring basic teaching functions, making it possible for five-axis numerical control teaching equipment to be popularized in conventional college laboratories.

[0015] 3. The present application is designed with overall miniaturization and low power, and cooperates with a fully enclosed transparent safety shield, effectively isolating the cutting area to prevent cutting scraps from splashing and being touched by mistake, ensuring the safety of the operation during teaching, and allowing students to perform hands-on clamping, tool setting, and program debugging under the guidance of teachers.

[0016] 4. The present application integrates multiple cameras, which can capture the tool path, workpiece clamping state, and cutting process in real time from different angles, and display the pictures in synchronization with the coordinate data of the numerical control system and the tool path simulation; such multi-dimensional real-time feedback greatly enhances the students' understanding of the correlation between abstract programming code and actual processing actions. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein like or corresponding elements refer to like or corresponding parts thereof. In the drawings: Figure 1 : overall structure diagram of the present application small five-axis numerical control machine tool teaching equipment; Figure 2 : schematic diagram of the spindle support table of the present application; Figure 3 : partial sectional view of the spindle support table of the present application; Figure 4 : schematic diagram of the spindle mechanical gripper of the present application; Figure 5 : partial sectional view of the spindle mechanical gripper of the present application; Figure 6 : The schematic diagram of the sliding table base of the present application; Figure 7 : The partial sectional view of the sliding table base of the present application; Figure 8 : The schematic diagram of the upper layer feeding system of the present application; Figure 9 : The partial sectional view of the upper layer feeding system of the present application; Figure 10 : The schematic diagram of the adjustable rotary clamp of the present application.

[0018] In the figure: 1, base; 2, fixed table; 3, side T-shaped plate; 4, back plate; 5, work type support plate; 6, top plate; 7, sleeve; 8, vertical motor; 9, sliding block; 10, guide rail; 11, support block; 12, ball screw; 13, coupling; 14, gripper; 15, mechanical gripper support; 16, mechanical hand support; 17, first sliding table; 18, mechanical gripper motor; 19, mechanical gripper sleeve; 20, drill chuck; 21, mechanical gripper coupling; 22, support table; 23, sliding table ball screw; 24, second sliding table; 25, sliding table base; 26, boss; 27, base motor; 29, sliding block; 30, workbench guide rail; 31, workbench support block; 32, workbench ball screw; 33, workbench motor; 34, motor base; 35, vertical sliding rail bottom plate; 36, vertical moving block; 37, bottom water tank seat; 39, connecting plate; 40, clamp; 41, harmonic reducer; 42, fixed seat; 43, motor flange; 44, combined clamp workbench; 45, servo motor; 46, rotating motor. DETAILED DESCRIPTION

[0019] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. Technical means used in the examples are conventional means known to those skilled in the art, unless specifically indicated.

[0020] In a first aspect, as shown in the drawings, the present application provides a self-made small five-axis numerical control machine tool teaching device, which is provided with a five-axis motion system and a control system on the machine tool body; the five-axis motion system is provided with a spindle system and a clamp 40; a transparent safety shield is provided on the periphery of the five-axis motion system; a plurality of cameras are provided on the five-axis motion system or the safety shield; the control system is connected with the plurality of cameras, the spindle system, the clamp 40 and the five-axis motion system respectively. Figure 1

[0021] ​In this way, the device of the present application is specially designed for teaching scenarios, adopts an open modular structure, and the machining process of the five-axis motion system, the spindle system and the clamp 40 is completely exposed or visible through a transparent protective cover, which facilitates teachers to explain step by step and students to observe closely; the present application integrates multiple cameras, which can capture the tool path, workpiece clamping state and cutting process in real time from different angles, and display the picture and coordinate data of the numerical control system, tool path simulation synchronously; such multi-dimensional real-time feedback greatly enhances the students' understanding of the correlation between abstract programming code and actual processing action.

[0022] In a specific embodiment, the machine tool body is made of aluminum alloy or engineering plastic.

[0023] In this way, by using lightweight materials such as aluminum alloy or engineering plastic, combined with open source numerical control system and standardized mechanical and electrical components, the manufacturing cost and maintenance complexity of the device are greatly reduced under the premise of ensuring basic teaching functions, making it possible for five-axis numerical control teaching devices to be popularized in conventional college laboratories.

[0024] In a specific embodiment, the five-axis motion system includes three linear axis systems and two rotary axis systems; the three linear axis systems are X-axis system, Y-axis system and Z-axis system respectively, and the Y-axis system is arranged corresponding to the X-axis system; the Z-axis system is arranged on the Y-axis system.

[0025] In a specific embodiment, the base 1 of the Z-axis system is fixed on the machine tool body; a fixed table 2 is arranged on the base 1; a rear plate 4 and two symmetrical work-type support plates 5 are arranged on the fixed table 2; two side T-shaped plates 3 are symmetrically arranged on both sides of the rear plate 4; a top plate 6 is installed above the two side T-shaped plates 3; a sleeve 7 is installed above the top plate 6; a shaft coupling 13 is placed inside the sleeve 7; a vertical motor 8 is placed above the sleeve 7; the vertical motor 8 is connected with the ball screw 12 through the shaft coupling 13; the support block 11 is located between the two side T-shaped plates 3 for supporting the movement of the ball screw 12; two guide rails 10 are respectively installed on the two side T-shaped plates 3; two sliding blocks 9 are installed on each guide rail 10; a first sliding table 17 is installed above the sliding blocks 9, and the first sliding table 17 is threadedly connected with the ball screw 12.

[0026] In this way, the vertical motor 8 is started to drive the ball screw 12 to rotate, and then drive the first sliding table 17 to move back and forth along the guide rail 10 along the Z-axis.

[0027] In a specific embodiment, the Y-axis system slide base 25 is fixed on the machine tool body; two support tables 22 are installed on the slide base 25 for supporting the slide table ball screw 23 in the slide base 25, the slide table ball screw 23 is installed on one side of the boss 26, the bottom seat motor 27 is installed on the other side of the boss 26, the second slide table 24 is connected with the sliding block 29 below, and the sliding block 29 is screwed to the slide table ball screw 23.

[0028] In this way, the base motor 27 is started to drive the slide table ball screw 23 to rotate, and then drive the second slide table 24 to move back and forth along the Y-axis.

[0029] In a specific embodiment, the vertical slide rail bottom plate 35 of the X-axis system is fixedly connected with the second slide table 24, the workbench guide rail 30 is installed above the vertical slide rail bottom plate 35, the workbench support block 31 is installed between the two workbench guide rails 30, the workbench ball screw 32 is placed between the workbench support blocks 31, the workbench ball screw 32 is connected with the workbench motor 33 through the motor base 34, the vertical moving block 36 is connected on the workbench ball screw 32, the bottom water tank seat 37 is installed above the vertical moving block 36, and the combined clamp workbench 44 is installed above the bottom water tank seat 37.

[0030] In this way, the workbench motor 33 is started to drive the workbench ball screw 32 to rotate, and then drive the combined clamp workbench to move back and forth along the X-axis.

[0031] In a specific embodiment, the two rotating shaft systems are fixed seats 42 installed on one side of the combined clamp workbench 44, the motor flange 43 is installed on the upper part of the fixed seat 42, the rotating motor 46 is connected through one side of the motor flange 43, the harmonic reducer 41 is installed on the other side of the motor flange 43, the harmonic reducer 41 is fixedly connected with the connecting plate 39, the clamp 40 is connected with the front end of the connecting plate 39, and the servo motor 45 is fixedly connected with the rear end of the connecting plate 39 through bolts.

[0032] In this way, the rotating motor 46 is driven, the harmonic reducer 41 is used for speed reduction and torque increase, the connecting plate 39, the clamp 40 and the clamped workpiece can be accurately rotated around the horizontal axis (A-axis), the servo motor 45 is driven, the connecting plate 39 and the clamp 40 can be rotated around the vertical axis (C-axis), the composite motion of the two rotating shafts makes the workpiece to be machined present a multi-angle posture in space, and the three linear shafts are cooperated to realize five-axis linkage machining of a complex surface.

[0033] In a specific embodiment, the main shaft system sliding table 17 is installed with a mechanical arm support 16, a mechanical arm sleeve 19 is installed above the mechanical arm support 16, a mechanical arm coupling 21 is installed inside the mechanical arm sleeve 19, a mechanical arm motor 18 is installed above the mechanical arm sleeve 19 through bolt connection, a drill chuck 20 is connected below the mechanical arm support 16 through bolt connection, the mechanical arm support 16 is installed on one side of a mechanical arm support 15, and a hand 14 is installed below the mechanical arm support 15.

[0034] In this way, the mechanical arm motor 18 drives the mechanical arm support 16 and the drill chuck 20 to rotate through the mechanical arm coupling 21, constitutes the main shaft rotation movement of the machine tool, and provides power for cutting processing; the drill chuck 20 is used to clamp different diameter ball end mills, ball head knives and other commonly used teaching tools; the hand 14 can perform simple workpiece grabbing or auxiliary positioning function when needed, and can be used to demonstrate the basic concept of automatic feeding and unloading; the main shaft system has compact structure, all transmission components are exposed or located in a transparent protective cover, so that the key processes such as motor driving and tool clamping are completely visible to students, greatly enhancing the teaching intuitiveness, and facilitating students to understand the working principle of the main shaft system and the tool mounting method.

[0035] In a specific embodiment, the control system adopts an open source numerical control system (such as Grbl, LinuxCNC, etc.), supports G code analysis and multi-axis linkage control; and the control system is electrically connected with the driving devices of the hand 14 and the clamp 40 through wires respectively.

[0036] It should be noted that the driving devices of the hand 14 and the clamp 40 include but are not limited to motors, and any driving element capable of achieving the predetermined clamping or rotating function is suitable for the present application.

[0037] In a second aspect, the present application provides an operation method of a self-made small five-axis numerical control machine tool teaching device, which comprises the following steps: S1: clamping a workpiece on the clamp 40, and installing a tool on the main shaft system; S2: loading a processing task into the control system, the processing task containing a numerical control program for controlling the five-axis motion system, the main shaft system and the clamp 40 to carry out linkage processing; S3: starting processing, the control system driving the five-axis motion system and the main shaft system to perform processing actions according to the numerical control program, and simultaneously shooting and monitoring the processing process in real time through the plurality of cameras; S4: after the processing is completed, stopping the device and unloading the workpiece.

[0038] Specifically, step S1 includes: manually placing and fixing the workpiece (such as a wax block, plastic or soft metal blank) on the fixture 40; selecting a suitable cutting tool according to the processing requirements and installing it into the drill chuck 20 and locking it.

[0039] Specifically, step S2 includes: calling the CNC program of the target machining object (such as a chess piece) from the preset case library through the teaching software interface integrated in the control system; importing it into the open-source CNC system, and then planning the tool path and generating the corresponding five-axis linkage machining G code in the open-source CNC system; subsequently, loading the generated CNC program into the execution queue of the control system, and setting the workpiece coordinate system origin, tool length and radius compensation parameters in the visualization interface.

[0040] Specifically, step S3 includes: after confirming that the safety guard is closed, starting the machining program; the control system parses and executes the CNC program, coordinates and controls the three linear axis systems (X, Y, Z axes) and the two rotary axis systems (A, C axes) to work together, and simultaneously controls the mechanical claw motor 18 to drive the tool to rotate, cutting and shaping the workpiece fixed on the fixture 40; during the machining process, multiple cameras set inside and outside the guard capture the tool movement trajectory, chip shape and workpiece status from different angles in real time, and transmit the video stream to the visualization interface of the control system in real time, which is synchronously superimposed and displayed with the tool path and coordinate data of each axis simulated by the software for teaching observation and analysis.

[0041] Specifically, step S4 includes: after the machining program is completed, the spindle stops rotating and each motion axis returns to a safe position; the safety guard is opened, the clamp 40 is released or the gripper 14 is used to remove the machined workpiece; the dimensional accuracy and surface quality of the workpiece are inspected, and the machining results are analyzed and the teaching is summarized in combination with the recorded machining process video and data records. Example

[0042] Teaching and processing of automatic engraving and stacking of chess pieces; Based on the bearing reference formed by the base 1 and the fixed platform 2, the I-shaped support plate 5 and the top plate 6 form a Z-axis vertical mounting frame. The vertical motor 8 drives the ball screw 12 via the coupling 13. The first sliding table 17 achieves the lifting and positioning of the spindle system along the guide rail 10. The drill chuck 20 clamps the micro-engraving tool to form the spindle end execution part. The second sliding table 24 is driven by the sliding table ball screw 23 on the sliding table seat 25 to achieve Y-axis feed. The combined fixture worktable 44 is driven by the worktable motor 33 via the worktable ball screw 32 and achieves X-axis feed along the worktable guide rail 30. The fixture 40 completes the reference positioning and clamping of the chess piece blank. The rotary motor 46 drives the connecting plate 39 to complete the A-axis swing via the harmonic reducer 41. The servo motor 45 drives the connecting plate 39 to complete the C-axis rotation via the fixed seat 42 and the motor flange 43. The five-axis linkage attitude adjustment is used to keep the text area on the top surface of the chess piece within a reasonable incident angle range reachable by the tool axis.

[0043] Specifically, step S1 includes: clamping the chess piece blank on the fixture 40, with the blank's reference surface abutting the positioning surface of the combined fixture worktable 44; the clamping force being provided by the locking structure of the fixture 40; and inserting the engraving tool into the drill chuck 20 and setting the extension amount. The gripper 14, along with the mechanical claw support 15 and the robotic arm support 16, forms a pick-and-place mechanism to assist in feeding the blank to be processed. The sleeve 7 and the mechanical claw sleeve 19 define the guiding posture of the gripper 14. The mechanical claw motor 18 drives the gripper 14 via the mechanical claw coupling 21 to complete the clamping opening and closing.

[0044] Specifically, step S2 includes: the control system loading the chess-like lettering processing task; the CNC program giving interpolation instructions to the X-axis table motor 33, the Y-axis sliding table ball screw 23, and the Z-axis vertical motor 8; and giving attitude instructions to the A-axis rotary motor 46 and the C-axis servo motor 45; and constraining the spindle speed and feed parameters within the same task. In the teaching scenario, the program segment is used to demonstrate the logic of coordinate system setting, tool length compensation, and RTCP linkage trajectory generation. The camera image and coordinate display are used to verify the consistency between the tool tip trajectory and the workpiece text outline.

[0045] Specifically, step S3 includes: after machining starts, the control system drives the five-axis motion system to complete positioning and interpolation; the drill chuck 20 drives the tool to engrave characters on the top surface of the chess piece and refine the outer circle contour; the chips and coolant are received by the bottom water tank seat 37 and guided for recycling. The machining cycle is set to a single-piece cycle mode. The single-piece completion signal triggers automatic pick-and-place actions. The first sliding table 17 raises the tool to a safe height, and the gripper 14 clamps the finished chess piece under the drive of the mechanical claw motor 18. The vertical moving block 36 completes lifting and avoidance under the constraint of the vertical slide rail base plate 35. The workpiece is transferred to the stacking area on the side of the fixed table 2 and released. The finished product forms a stack under the action of gravity, and the stacking height increases with the number of cycles. The teaching-oriented observation points are set as the repeatability accuracy of the clamping posture, the stacking stability, and the consistency of zero return. Abnormal states can be directly identified in the camera monitoring screen and used for classroom error correction.

[0046] Specifically, step S4 includes: after the cycle batch ends, the equipment is stopped, the clamp 40 is released and the positioning surface is cleaned, the guide rail 10 and the worktable guide rail 30 are cleaned of chips, the finished chess pieces in the stacking area are transferred in one go by the gripper 14 or manually, and the teaching records are archived together with the camera material and the program version for review and evaluation.

[0047] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-made small five-axis CNC machine tool teaching device, characterized in that, The machine tool body of the equipment is equipped with a five-axis motion system and a control system; The five-axis motion system is equipped with a spindle system and a fixture (40). A transparent safety shield is provided around the five-axis motion system. Multiple cameras are installed on the five-axis motion system or the safety guard; The control system is connected to multiple cameras, a spindle system, a fixture (40), and a five-axis motion system.

2. The self-made small five-axis CNC machine tool teaching equipment according to claim 1, characterized in that, The main body of the machine tool is made of aluminum alloy or engineering plastic.

3. The self-made small five-axis CNC machine tool teaching equipment according to claim 1, characterized in that, The five-axis motion system includes three linear axis systems and two rotary axis systems; The three linear axis systems are the X-axis system, the Y-axis system, and the Z-axis system, with the Y-axis system corresponding to the X-axis system; the Z-axis system is set on the Y-axis system.

4. The self-made small five-axis CNC machine tool teaching equipment according to claim 3, characterized in that, The base (1) of the Z-axis system is fixed on the machine tool body; a fixed platform (2) is provided on the base (1); a rear plate (4) and two symmetrically arranged I-shaped support plates (5) are provided on the fixed platform (2); side T-shaped plates (3) are symmetrically arranged on both sides of the rear plate (4); a top plate (6) is installed above the two side T-shaped plates (3); a sleeve (7) is installed above the top plate (6); a coupling (13) is placed inside the sleeve (7); a vertical motor (8) is installed above the sleeve (7); the vertical motor (8) is connected to the ball screw (12) through the coupling (13); a support block (11) is located between the two side T-shaped plates (3) to support the movement of the ball screw (12); guide rails (10) are installed on the two side T-shaped plates (3) respectively; two sliders (9) are installed on each guide rail (10); a first sliding table (17) is installed above the sliders (9), and the first sliding table (17) is threadedly connected to the ball screw (12).

5. A self-made small five-axis CNC machine tool teaching device according to claim 3, characterized in that, The slide table (25) of the Y-axis system is fixed on the machine tool body; two support tables (22) are installed on the slide table (25) to support the slide table ball screw (23) in the slide table (25); a base motor (27) is installed on a boss (26) on one side of the slide table ball screw (23); and a second slide table (24) is threaded to the slide table ball screw (23).

6. The self-made small five-axis CNC machine tool teaching equipment according to claim 3, characterized in that, The vertical slide rail base plate (35) of the X-axis system is fixedly connected to the second sliding table (24). The worktable guide rail (30) is installed above the vertical slide rail base plate (35). The worktable support block (31) is installed between the two worktable guide rails (30). The worktable ball screw (32) is placed between the worktable support blocks (31). The worktable ball screw (32) passes through the motor base (34) and is connected to the worktable motor (33). The vertical moving block (36) is connected to the worktable ball screw (32). The bottom water tank seat (37) is installed above the vertical moving block (36). The combined fixture worktable (44) is installed above the bottom water tank seat (37).

7. The self-made small five-axis CNC machine tool teaching equipment according to claim 3, characterized in that, The two rotary axis systems are mounted on a fixed seat (42) on one side of the slotted side of the combined fixture worktable (44), and a motor flange (43) is mounted on the upper part of the fixed seat (42). The motor flange (43) is connected to the rotating motor (46) on one side and a harmonic reducer (41) is mounted on the other side. The harmonic reducer (41) is fixedly connected to the connecting plate (39). The front end of the connecting plate (39) is connected to the fixture (40), and the rear end of the connecting plate (39) is fixedly connected to the servo motor (45) by bolts.

8. The self-made small five-axis CNC machine tool teaching equipment according to claim 3, characterized in that, The main spindle system slide table (17) is equipped with a robot arm bracket (16). A robot claw sleeve (19) is installed above the robot arm bracket (16). A robot claw coupling (21) is installed inside the robot claw sleeve (19). A robot claw motor (18) is installed above the robot claw sleeve (19) by bolts. A drill chuck (20) is connected below the robot arm bracket (16) by bolts. The robot arm bracket (16) is installed on one side of the robot claw bracket (15). A gripper (14) is installed below the robot claw bracket (15).

9. A method for operating a teaching device as described in any one of claims 1-8, characterized in that, The operation method includes the following steps: S1: Clamp the workpiece on the fixture (40) and install the tool on the spindle system; S2: Load the machining task into the control system. The machining task includes a CNC program that controls the five-axis motion system, the spindle system and the fixture (40) to perform linkage machining. S3: Start machining. The control system drives the five-axis motion system and the spindle system to perform machining actions according to the CNC program, and simultaneously captures and monitors the machining process in real time through the multiple cameras. S4: After processing is complete, stop the equipment and unload the workpiece.

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