Six-axis linkage machining tool

Abstract

The invention relates to a six-axis linkage processing machine tool, which belongs to the technical field of numerical control machine tools, and comprises a bed frame, a base, a workbench and a shaft sleeve are slidably arranged on the bed frame, the base moves horizontally along the direction close to or far away from the shaft sleeve, the workbench is slidably arranged on the base along the horizontal direction, and the sliding direction is perpendicular to the sliding direction of the base; a bearing platform is slidably arranged on the machine frame and slides in the vertical direction, an adapter is rotatably connected to the bearing platform, a rotating shaft is arranged in the horizontal direction, the shaft sleeve is rotatably arranged on the adapter, and the rotating shaft is perpendicular to a rotating shaft of the adapter relative to the bearing platform. The device has the effects that the high-precision machining requirements of inclined structures, space curved surfaces and the like of complex parts are met, integrated machining under multi-dimensional motion linkage control is achieved, and the machining precision and the production efficiency are improved.

Description

Technical Field

[0001] This application relates to the technical field of CNC machine tools, and in particular to a six-axis linkage machining center. Background Technology

[0002] Currently, machine tools are the basic equipment used to process metal or non-metal workpieces in terms of size, shape and surface quality through cutting, grinding, stamping and other methods. They are the core equipment of machinery manufacturing.

[0003] Existing milling machines, drilling machines, and grinding machines all involve the cutting tool rotating while the workpiece remains stationary or performs a feed motion to complete milling, drilling, or grinding operations. They can process simple planes, straight grooves, or regular hole systems.

[0004] For existing lathes, the workpiece is clamped on the worktable, which moves horizontally to adjust its position, while the cutting tool moves vertically. The two work together to process the workpiece. However, in actual processing, the processing requirements are no longer limited to simple structures such as cutting straight grooves and vertical edges. There are also high-precision processing requirements such as inclined sidewalls, inclined surfaces with specific angles, and complex spatial curved surfaces. Existing equipment has the defects of insufficient freedom of movement and limited processing angle. Summary of the Invention

[0005] In order to overcome the shortcomings of existing machine tools, such as limited motion freedom, insufficient machining accuracy of complex structures, and low efficiency of multi-process machining, and to meet the high-precision machining requirements of complex parts such as inclined structures and spatial curved surfaces, this application provides a six-axis linkage machine tool to achieve integrated machining under multi-dimensional motion linkage control and improve machining accuracy and production efficiency.

[0006] The six-axis linkage machining center provided in this application adopts the following technical solution:

[0007] A six-axis linkage machining center includes a frame, a base, a worktable, and a bushing slidably mounted on the frame. The base moves horizontally in a direction close to or away from the bushing. The worktable is slidably mounted on the base in a horizontal direction, with the sliding direction perpendicular to the sliding direction of the base. The bushing is used to mount cutting tools. A support is slidably mounted on the frame, sliding vertically. An adapter is rotatably connected to the support, with its rotation axis arranged horizontally. The bushing is rotatably mounted on the adapter, with its rotation axis perpendicular to the rotation axes of the support and the adapter.

[0008] By adopting the above technical solution, the sliding of the base, worktable, and support platform realizes three linear motion axes of X, Y, and Z, respectively. The rotation of the support platform and the adapter, and the rotation of the adapter and the bushing realize two rotary motion axes of A and B, respectively. Combined with the rotation of the tool itself (C axis), a complete six-axis linkage structure is formed. The relative position and machining angle of the workpiece and the tool can be flexibly adjusted, and it can easily adapt to the machining of complex structures such as inclined sidewalls and spatial curved surfaces. It effectively solves the problems of insufficient motion freedom and limited machining angle of existing equipment, and greatly improves machining accuracy and adaptability.

[0009] Optionally, the cutting tool includes a tool holder and a tool head. A tool box and a tool changing assembly are installed on the bed frame. The tool box contains different types of cutting tools. The tool changing assembly includes a servo motor, a first electric cylinder, and a cross plate. The first electric cylinder is fixed on the bed frame and is used to drive the servo motor to move horizontally. The rotating end of the servo motor is fixed to the middle of the cross plate. Both ends of the cross plate are provided with notches for engaging the tool holder and a first limiting assembly for cooperating with the notches. The tool box is provided with a discharge port. When the cross plate is rotated to a horizontal state and the mounting port of the bushing is rotated to face one side of the cross plate, the notch at one end of the cross plate is directly opposite the discharge port, and the notch at the other end is directly opposite the mounting port of the bushing.

[0010] By adopting the above technical solution, with the first electric cylinder driving the horizontal plate to move horizontally and the first motor driving the horizontal plate to flip, combined with the staggered docking design of the notches at both ends, the tool can be automatically transferred and installed from the tool box to the bushing. There is no need for manual intervention in the tool changing process, which greatly shortens the tool changing time. At the same time, the first limiting component can ensure that the tool is stably locked during the transfer process, avoiding falling off or shifting, and improving the reliability of tool changing and the continuity of processing.

[0011] Optionally, the first limiting component includes a first limiting pin and a first spring. A first slot is provided on the horizontal plate. The first slot is opened along the length direction of the horizontal plate and the slot opening is located on the inner wall of the notch. The first spring is located in the first slot and one end is fixed to the bottom of the first slot, and the other end is fixed to the end of the first limiting pin. The first limiting pin is slidably inserted into the first slot, and the end of the first limiting pin away from the first spring slides against the handle.

[0012] By adopting the above technical solution, the elastic force of the first spring is used to push the first limiting pin tightly against the outer wall of the tool holder, forming an adaptive clamping effect. This can not only adapt to tool holders of different diameters, but also offset the vibration during the transfer process through elastic contact, ensuring the positioning accuracy of the tool in the notch. At the same time, the sliding limiting structure will not hinder the loading and unloading of the tool, ensuring smooth and efficient tool changing.

[0013] Optionally, a conveyor belt is provided inside the knife box, and multiple clamps are fixed on the conveyor belt. Adjacent clamps are spaced apart along the length of the conveyor belt. The knife handles on different clamps have the same specifications, but the knife heads have different specifications. A second electric cylinder is fixed inside the knife box. The piston end of the second electric cylinder is positioned directly opposite the discharge port. The second electric cylinder is located on the side of the conveyor belt away from the discharge port. A magnet is fixed at the piston end of the second electric cylinder, and the knife handle is made of a magnetically attractable material.

[0014] By adopting the above technical solution, the conveyor belt can realize the cyclical transport of cutting tools, making it easy to select cutting tools of different types as needed and meet the multi-process machining requirements of complex parts; with the help of the second electric cylinder to push the magnet close to the tool holder, the magnetic attraction force is used to smoothly push the tool out of the fixture to the discharge port or smoothly suck it into the fixture from the horizontal plate, avoiding damage to the tool caused by hard pushing. At the same time, the uniform specification of the tool holder ensures the compatibility with the bushing and notch, improving the versatility of tool changing and the convenience of operation.

[0015] Optionally, the clamp includes a positioning frame, a second limiting pin, and a second spring. The positioning frame is C-shaped and has a second slot. The second spring is located in the second slot and one end is fixed to the bottom of the slot, while the other end is fixed to the end of the second limiting pin. The second limiting pin is slidably inserted into the second slot, and the end of the second limiting pin away from the second spring slides against the outer wall of the tool holder.

[0016] By adopting the above technical solution, the C-type positioning frame provides circumferential support for the tool holder, and the second limit pin driven by the second spring achieves elastic clamping. This not only stably fixes the tool on the conveyor belt to prevent displacement or falling during the conveying process, but also releases the tool through the sliding contraction of the second limit pin when the magnetic stone is attracted, achieving rapid separation of the tool and balancing the reliability of fixation with the flexibility of picking and placing.

[0017] Optionally, the knife box is provided with a positioning rod and a positioning ring. One end of the positioning rod is fixed to the inner wall of the knife box, and the other end is fixed to the outer wall of the positioning ring. The positioning ring is looped around the surface of the conveyor belt and slides against the surface of the belt. Along the conveying direction of the conveyor belt, the positioning ring is located behind the discharge port and adjacent to the discharge port.

[0018] By adopting the above technical solution, the positioning ring plays a precise limiting role for the clamps on the conveyor belt, ensuring that the tool can be accurately aligned with the second electric cylinder and the notch of the horizontal plate when it is delivered to the discharge port. This avoids tool positioning deviation caused by conveyor belt offset, improves docking accuracy during tool changing, reduces jamming risk, and ensures the smooth operation of the automated tool changing process.

[0019] Optionally, a tensioning assembly is provided inside the blade box. The tensioning assembly includes a crossbar, a central tube, an adjusting tube, and a roller. The crossbar is horizontally arranged and one end is fixed to the inner wall of the blade box, while the other end is rotatably connected to the central tube. The central tube is vertically arranged and rotates relative to the crossbar. The adjusting tube is vertically arranged, with one end threadedly connected to one end of the central tube and the other end rotatably connected to the roller. The roller is horizontally arranged and its circumferential outer wall rolls against the surface of the conveyor belt. The roller rotates relative to the adjusting tube.

[0020] By adopting the above technical solution, the vertical height of the adjusting tube can be adjusted via threaded transmission, thereby adjusting the tension of the roller against the conveyor belt. This achieves tension adjustment of the conveyor belt, preventing conveyor belt misalignment due to slack or accelerated wear due to excessive tightness. Simultaneously, the rolling contact design of the roller reduces frictional resistance to the conveyor belt, ensuring conveying stability and extending equipment lifespan.

[0021] Optionally, a slide block is slidably mounted on the bed frame, a servo motor is fixed to the top of the slide block, and the piston end of the first electric cylinder is fixed to the slide block.

[0022] By adopting the above technical solution, the slide provides stable mounting support for the first motor. At the same time, the slide moves horizontally as a whole with the help of the first electric cylinder. Compared with directly driving the first motor, the stability and guiding accuracy during the movement can be improved, ensuring that the notches at both ends of the horizontal plate can accurately align with the discharge port and the bushing mounting port, further improving the accuracy of tool changing positioning.

[0023] Optionally, an annular groove is provided on the outer wall of the tool holder, and the end of the first limiting pin or the end of the second limiting pin slides into the annular groove.

[0024] By adopting the above technical solution, the end of the limiting pin is embedded in the annular groove to form an axial limit. Compared with the simple outer wall abutment, it can effectively prevent the tool from axially moving during transportation or fixing, greatly improve the stability and accuracy of tool positioning, and avoid affecting the machining quality or tool changing effect due to axial displacement.

[0025] Optionally, the junction between the groove wall and the outer wall of the tool holder is provided with rounded corners.

[0026] By adopting the above technical solution, the rounded corner design can avoid hard collisions or jamming at the junction of the limit pin end and the annular groove, allowing the limit pin to slide smoothly into or out of the annular groove, which reduces component wear, ensures the smoothness of tool changing action, and improves the smoothness and reliability of equipment operation.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. Through the six-axis linkage structure design, the coordinated movement of the three linear axes X, Y, and Z and the three rotary axes A, B, and C is realized, which greatly improves the motion freedom and processing angle adaptability of the equipment. It can accurately complete the integrated processing of complex structures such as inclined sidewalls and spatial curved surfaces, effectively solve the processing limitations of existing equipment, and significantly improve the processing accuracy.

[0029] 2. The integrated automated tool changer and tool box conveyor structure, through the combination of mechanical transmission, magnetic adsorption and elastic limit, realizes the automatic retrieval, transfer and installation of different types of tools without manual intervention, shortens tool change time, improves processing continuity and production efficiency, and adapts to the multi-process processing needs of complex parts.

[0030] 3. The design of each limiting component, tensioning component and positioning structure ensures the positioning stability and smooth operation of the tool during storage, transportation, tool changing and processing, while also having certain specification adaptability and component protection effect, extending the service life of the equipment and reducing the risk of operational failure. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram of an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the structure after the tool box and tool changing assembly are installed on the bed frame;

[0033] Figure 3 This is a partial structural diagram of the tool changing assembly;

[0034] Figure 4 This is a schematic diagram of the internal structure of the knife box;

[0035] Figure 5 This is a partial sectional view of the structure at the horizontal plate.

[0036] Figure 6 This is a sectional view of the clamping area;

[0037] Figure 7 This is a cross-sectional view of the location of the tensioning component.

[0038] In the diagram, 1. Bed frame; 11. Base; 12. Worktable; 13. Bushing; 14. Support; 15. Adapter; 16. Slide; 2. Tool; 21. Tool holder; 211. Ring groove; 22. Tool head; 3. Tool box; 31. Discharge port; 32. Conveyor belt; 33. Second electric cylinder; 34. Magnet; 35. Positioning rod; 36. Positioning ring; 4. Tool changing assembly; 41. Servo motor; 42. First electric cylinder; 43. Cross plate; 431. Notch; 432. First slot; 5. First limit assembly; 51. First limit pin; 52. First spring; 6. Clamp; 61. Positioning frame; 611. Second slot; 62. Second limit pin; 63. Second spring; 7. Tensioning assembly; 71. Crossbar; 72. Center tube; 73. Adjusting tube; 74. Roller. Detailed Implementation

[0039] The following is in conjunction with the appendix Figures 1-7 This application will be described in further detail.

[0040] This application discloses a six-axis linkage machining center, which aims to solve the problems of insufficient motion freedom, low machining accuracy of complex structures and poor efficiency of multi-process machining in existing machining centers. It is suitable for machining complex parts in aerospace, precision molds, high-end equipment and other fields.

[0041] refer to Figure 1 and Figure 2 A six-axis linkage machining center includes a bed frame 1, which serves as an integral support base. A base 11, a worktable 12, a bushing 13, and a support platform 14 are slidably mounted on the bed frame 1. The base 11 slides along the length of the bed frame 1, achieving linear motion along the X-axis, and is used to adjust the horizontal distance between the workpiece and the cutting tool 2. The worktable 12 is slidably mounted on top of the base 11, with its sliding direction perpendicular to the sliding direction of the base 11, achieving linear motion along the Y-axis, further fine-tuning the horizontal position of the workpiece. The worktable 12 is used to clamp and fix the workpiece to be processed. The support platform 14 slides vertically along the bed frame 1 to achieve linear motion along the Z-axis, used to adjust the vertical height of the tool 2. A transition seat 15 is rotatably connected to the support platform 14, with its rotation axis set horizontally to achieve rotational motion along the A-axis. A bushing 13 is rotatably mounted on the transition seat 15, with its rotation axis perpendicular to that of the transition seat 15, achieving rotational motion along the B-axis. The bushing 13 is used to mount the tool 2, and its rotational motion drives the tool 2 to form the C-axis, ultimately forming a complete six-axis linkage structure. This allows for flexible adjustment of the relative position and machining angle between the workpiece and the tool 2, meeting the machining requirements of complex structures. In this embodiment, the sliding of the base 11, worktable 12, and support platform 14 is achieved using a motor and lead screw; other methods are also possible, but will not be elaborated upon in this embodiment.

[0042] refer to Figure 2 , Figure 3 and Figure 4 The cutting tool 2 includes a handle 21 and a cutting head 22. An annular groove 211 is formed on the outer wall of the handle 21. The junction of the groove wall and the outer wall of the handle 21 is rounded to facilitate the smooth insertion and disengagement of the limiting components. A tool box 3 and a tool changing assembly 4 are installed on the bed frame 1. The tool box 3 stores various sizes of cutting tools 2, and the tool changing assembly 4 facilitates the transfer and installation of the cutting tools 2 between the tool box 3 and the bushing 13. The tool changing assembly 4 includes a servo motor 41, a first electric cylinder 42, a cross plate 43, and a slide 16. The slide 16 is slidably mounted on the bed frame 1. The servo motor 41 is fixed to the top of the slide 16. The piston end of the first electric cylinder 42 is fixed to the slide 16. When the first electric cylinder 42 is activated, it pushes the slide 16, causing the servo motor 41 to move horizontally, ensuring precise adjustment of the position of the cross plate 43.

[0043] refer to Figure 3 and Figure 5 The rotating end of the servo motor 41 is fixed to the middle of the horizontal plate 43, which can drive the horizontal plate 43 to rotate around the vertical axis. Both ends of the horizontal plate 43 are provided with notches 431, which are used to engage the tool holder 21, and each notch 431 is equipped with a first limiting component 5.

[0044] refer to Figure 3 and Figure 5 The first limiting component 5 includes a first limiting pin 51 and a first spring 52. A first slot 432 extending along its length is provided on the horizontal plate 43, and the opening of the first slot 432 is located on the inner wall of the notch 431. The first spring 52 is located in the first slot 432, with one end fixed to the bottom of the first slot 432 and the other end fixed to the end of the first limiting pin 51. The first limiting pin 51 is slidably inserted into the first slot 432, and its end facing away from the first spring 52 can slide against the annular groove 211 of the tool holder 21. The elastic force of the first spring 52 achieves adaptive clamping of the tool holder 21, which ensures positioning stability and does not hinder the loading and unloading of the tool 2. The tool box 3 has a discharge port 31. When the horizontal plate 43 is rotated to a horizontal position and the mounting port of the bushing 13 is rotated to face the side of the horizontal plate 43, the notch 431 at one end of the horizontal plate 43 is directly opposite the discharge port 31, and the notch 431 at the other end is directly opposite the mounting port of the bushing 13, providing a docking basis for the transfer of the tool 2.

[0045] refer to Figure 3 , Figure 4 and Figure 6The tool box 3 is equipped with a conveyor belt 32, which is arranged along the length of the tool box 3. Multiple clamps 6 are fixed on the belt surface, and adjacent clamps 6 are spaced apart along the length of the conveyor belt 32 to fix the tools 2 one by one. The tool holders 21 installed on different clamps 6 are of the same specification, but the tool heads 22 are of different specifications to adapt to different processing requirements. The clamps 6 include a positioning frame 61, a second limiting pin 62, and a second spring 63. The positioning frame 61 has a C-shaped structure, which can form a circumferential wrapping support for the tool holder 21. The positioning frame 61 has a second slot 611. The second spring 63 is located in the second slot 611, with one end fixed to the bottom of the slot and the other end fixed to the end of the second limiting pin 62. The second limiting pin 62 is slidably inserted into the second slot 611, and its end facing away from the second spring 63 can slide into the annular groove 211 of the tool holder 21 to achieve elastic clamping of the tool 2 and prevent the tool 2 from shifting or falling during the conveyor belt 32 transport.

[0046] refer to Figure 4 and Figure 7 A second electric cylinder 33 is fixed inside the knife box 3. The piston end of the second electric cylinder 33 is positioned opposite the discharge port 31 and on the side of the conveyor belt 32 away from the discharge port 31. A magnet 34 is fixed to the piston end of the second electric cylinder 33, and the knife handle 21 is made of a magnetically attractable material, such as an iron alloy. When the conveyor belt 32 transports the designated knife 2 to the discharge port 31, the second electric cylinder 33 is activated, pushing the magnet 34 close to the knife handle 21 and smoothly pushing the knife 2 out of the clamp 6, allowing the knife 2 to move along the discharge port 31 into the notch 431 of the horizontal plate 43, thus completing the removal of the knife 2. Similarly, when it is necessary to retrieve the knife 2, the second electric cylinder 33, in conjunction with the magnet 34, attracts the knife handle 21 from the notch 431 of the horizontal plate 43 into the clamp 6, avoiding damage to the knife 2 caused by hard pushing.

[0047] refer to Figure 7 The tool box 3 is also equipped with a positioning rod 35 and a positioning ring 36. One end of the positioning rod 35 is fixed to the inner wall of the tool box 3, and the other end is fixed to the outer wall of the positioning ring 36. The positioning ring 36 is looped around the surface of the conveyor belt 32 and slides against the surface of the belt. The positioning ring 36 is not a complete ring and has a notch so as not to obstruct the clamp 6 from following the movement of the conveyor belt 32. Along the conveying direction of the conveyor belt 32, the positioning ring 36 is located behind and adjacent to the discharge port 31. When the conveyor belt 32 moves the clamp 6 to the discharge port 31, the positioning ring 36 can limit the clamp 6 to ensure that the tool 2 is accurately aligned with the discharge port 31, the second electric cylinder 33 and the notch 431 of the cross plate 43, avoiding positioning deviation caused by the offset of the conveyor belt 32 and ensuring a smooth tool changing process.

[0048] refer to Figure 7The knife box 3 is equipped with a tensioning assembly 7, which is used to adjust the tension of the conveyor belt 32 to prevent the conveyor belt 32 from being too loose or too tight, thus affecting the conveying stability. The tensioning assembly 7 includes a crossbar 71, a central tube 72, an adjusting tube 73, and a roller 74. The crossbar 71 is horizontally arranged, with one end fixed to the inner wall of the knife box 3 and the other end rotatably connected to the central tube 72. The central tube 72 is vertically arranged and can rotate relative to the crossbar 71. The adjusting tube 73 is vertically arranged, with one end threadedly connected to the end of the central tube 72 away from the crossbar 71. The vertical height of the adjusting tube 73 can be adjusted by rotating the central tube 72. The roller 74 is horizontally arranged and rotatably connected to the end of the adjusting tube 73 away from the central tube 72. The circumferential outer wall of the roller 74 rolls against the surface of the conveyor belt 32 and can rotate relative to the adjusting tube 73. By adjusting the height of the regulating pipe 73, the clamping force of the roller 74 on the conveyor belt 32 can be changed, thereby adjusting the tension of the conveyor belt 32. At the same time, the rolling contact design of the roller 74 can reduce frictional damage to the conveyor belt 32.

[0049] The implementation principle of a six-axis linkage machining center according to the embodiment of this application is as follows: Before processing, according to the processing requirements of the workpiece, the tool 2 of the corresponding tool head 22 is transported to the discharge port 31 by the conveyor belt 32. The positioning ring 36 supports and limits the conveyor belt 32. The second electric cylinder 33 pushes the magnet 34 to attract the tool holder 21 and pushes the tool 2 into the notch 431 at one end of the horizontal plate 43. The first limiting pin 51 is locked into the ring groove 211 of the tool holder 21 under the action of the first spring 52 to fix the tool 2. Then, the first electric cylinder 42 pushes the slide 16 to move, and the servo motor 41 drives the horizontal plate 43 to flip to a horizontal state so that the notch 431 at the other end of the horizontal plate 43 is aligned with the mounting port of the bushing 13. Then, the first electric cylinder 42 retracts to adjust the position and installs the tool 2 into the bushing 13.

[0050] During the machining process, linear motion along the X, Y, and Z axes is achieved by sliding the base 11, worktable 12, and support 14, respectively. Rotational motion along the A and B axes is achieved by rotating the adapter 15 and bushing 13, respectively. Combined with the C-axis rotation of the tool 2, this forms a six-axis linkage, allowing for flexible adjustment of the relative posture between the workpiece and the tool 2 to complete the cutting of complex structures such as inclined sidewalls and spatial curved surfaces. When the tool 2 needs to be replaced, the above tool-changing process is repeated. The second electric cylinder 33 uses a magnet 34 to retrieve the used tool 2 into the fixture 6, and then a new tool 2 is retrieved, achieving automated continuous machining. In this embodiment, the tool holder 21 is standardized, with only the tool 2 specifications differing. Specifications here refer to diameter, length, and tool tip shape, etc. The bushing 13 itself has the function of detachably connecting to the standardized tool holder 21. This type of bushing 13 is existing technology and will not be described further in this application.

[0051] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A six-axis linkage machining center, comprising a bed frame (1), on which a base (11), a worktable (12), and a bushing (13) are slidably disposed, the base (11) moving horizontally in a direction close to or away from the bushing (13), the worktable (12) being slidably disposed on the base (11) in a horizontal direction and the sliding direction being perpendicular to the sliding direction of the base (11), and the bushing (13) being used to mount a cutting tool (2), characterized in that: The bed frame (1) is slidably provided with a support (14), which slides in the vertical direction. A transition seat (15) is rotatably connected to the support (14) and the rotation axis is set in the horizontal direction. A bushing (13) is rotatably provided on the transition seat (15) and the rotation axis is set perpendicular to the rotation axis of the support (14) and the transition seat (15).

2. The six-axis linkage machining center according to claim 1, characterized in that: The cutting tool (2) includes a handle (21) and a cutting head (22). A tool box (3) and a tool changing assembly (4) are installed on the bed frame (1). The tool box (3) contains different types of cutting tools (2). The tool changing assembly (4) includes a servo motor (41), a first electric cylinder (42), and a cross plate (43). The first electric cylinder (42) is fixed on the bed frame (1). The first electric cylinder (42) is used to push the servo motor (41) to move horizontally. The rotating end of the servo motor (41) is in the middle of the cross plate (43). The horizontal plate (43) is fixed, and notches (431) for engaging the tool holder (21) and a first limiting component (5) for cooperating with the notches (431) are provided at both ends. The tool box (3) is provided with a discharge port (31). When the horizontal plate (43) is rotated to a horizontal state and the mounting port of the bushing (13) is rotated to face the side of the horizontal plate (43), the notch (431) at one end of the horizontal plate (43) is directly opposite the discharge port (31), and the notch (431) at the other end is directly opposite the mounting port of the bushing (13).

3. A six-axis linkage machining center according to claim 2, characterized in that: The first limiting component (5) includes a first limiting pin (51) and a first spring (52). A first slot (432) is provided on the horizontal plate (43). The first slot (432) is opened along the length direction of the horizontal plate (43) and the slot opening is located at the inner wall of the notch (431). The first spring (52) is located in the first slot (432) and one end is fixed to the bottom of the first slot (432), and the other end is fixed to the end of the first limiting pin (51). The first limiting pin (51) is slidably inserted into the first slot (432). The end of the first limiting pin (51) away from the first spring (52) slides against the handle (21).

4. A six-axis linkage machining center according to claim 3, characterized in that: The knife box (3) is equipped with a conveyor belt (32), and multiple clamps (6) are fixed on the conveyor belt (32). Adjacent clamps (6) are distributed at intervals along the length of the conveyor belt (32). The knife handles (21) on different clamps (6) have the same specifications, but the knife heads (22) have different specifications. A second electric cylinder (33) is fixed in the knife box (3). The piston end of the second electric cylinder (33) is set facing the discharge port (31). The second electric cylinder (33) is located on the side of the conveyor belt (32) away from the discharge port (31). A magnet (34) is fixed at the piston end of the second electric cylinder (33). The knife handle (21) is made of a magnetic material that can be attracted.

5. A six-axis linkage machining center according to claim 4, characterized in that: The clamp (6) includes a positioning frame (61), a second limiting pin (62), and a second spring (63). The positioning frame (61) is C-shaped and has a second slot (611). The second spring (63) is located in the second slot (611) and one end is fixed to the bottom of the slot, while the other end is fixed to the end of the second limiting pin (62). The second limiting pin (62) is slidably inserted into the second slot (611), and the end of the second limiting pin (62) away from the second spring (63) slides against the outer wall of the handle (21).

6. A six-axis linkage machining center according to claim 4, characterized in that: The knife box (3) is provided with a positioning rod (35) and a positioning ring (36). One end of the positioning rod (35) is fixed to the inner wall of the knife box (3), and the other end is fixed to the outer wall of the positioning ring (36). The positioning ring (36) is looped around the belt surface of the conveyor belt (32) and slides against the belt surface. Along the conveying direction of the conveyor belt (32), the positioning ring (36) is located behind the discharge port (31) and adjacent to the discharge port (31).

7. A six-axis linkage machining center according to claim 4, characterized in that: The knife box (3) is provided with a tensioning assembly (7). The tensioning assembly (7) includes a crossbar (71), a central tube (72), an adjusting tube (73), and a roller (74). The crossbar (71) is horizontally set and one end is fixed to the inner wall of the knife box (3), and the other end is rotatably connected to the central tube (72). The central tube (72) is vertically set and rotates relative to the crossbar (71). The adjusting tube (73) is vertically set and one end is threadedly connected to one end of the central tube (72). The other end of the adjusting tube (73) is rotatably connected to the roller (74). The roller (74) is horizontally set and its circumferential outer wall rolls against the surface of the conveyor belt (32). The roller (74) rotates relative to the adjusting tube (73).

8. A six-axis linkage machining center according to claim 2, characterized in that: A slide block (16) is slidably mounted on the bed frame (1), a servo motor (41) is fixed on the top of the slide block (16), and the piston end of the first electric cylinder (42) is fixed to the slide block (16).

9. A six-axis linkage machining center according to claim 5, characterized in that: The outer wall of the handle (21) is provided with an annular groove (211), and the end of the first limiting pin (51) or the end of the second limiting pin (62) slides into the annular groove (211).

10. A six-axis linkage machining center according to claim 9, characterized in that: The groove wall of the annular groove (211) and the outer wall of the tool holder (21) are both provided with rounded corners.

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