Dynamic posture adjustment tool magazine of five-axis turning-milling combined machine tool

Abstract

The present application belongs to the technical field of mechanical parts of numerical control machine tools, in particular to a dynamic posture adjusting tool magazine of a five-axis turning-milling combined machine tool, comprising flexible clamping jaws for clamping tools, tool arms constituting the tool magazine and servo motors for making the tool arms translate as a whole, further comprising a translation guide rail for supporting the tool arms, a support sliding block being slidably connected to the outer surface of the translation guide rail, a support panel being fixedly connected to one side surface of the support sliding block, a double swing mechanism being arranged on one side surface of the support panel, and a self-adaptive posture adjusting mechanism being arranged on one side surface of the tool arm. The dynamic posture adjusting tool magazine of the five-axis turning-milling combined machine tool is provided with a self-adaptive posture adjusting mechanism comprising a two-dimensional floating platform, a V-shaped clamping table, a bidirectional screw synchronous drive and an arc deflection fine adjustment, thereby realizing high-precision and self-adaptive fine adjustment and locking of the clamping posture of the tools, wherein the arc-shaped teeth and the gear transmission mechanism realize fine adjustment of the end angle, and cooperate with the real-time feedback of the laser displacement sensor to form a closed-loop control.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool mechanical components technology, and in particular to a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool. Background Technology

[0002] Five-axis milling and turning centers integrate turning and milling functions and possess at least five degrees of freedom, enabling precise, efficient, and one-time machining of complex spatial curved surface parts. As its core auxiliary functional unit, the performance of the automatic tool magazine directly affects the overall machining efficiency, reliability, and accuracy of the machine. Currently, tool magazine systems applied to such high-end machine tools, especially those for gripping and exchanging non-standard tool positions, mainly suffer from the following technical limitations: Traditional tool magazines have limited freedom of movement for the tool arm, typically only capable of simple linear transport and rotation. When the machine tool spindle or turret is at complex spatial angles, the tool is also in a corresponding spatial posture. Existing tool magazines lack the ability to perform multi-dimensional, high-precision pre-adjustment of the tool posture before gripping, leading to difficulties in aligning the tool with the spindle taper during tool changing. This necessitates additional positioning of the machine tool spindle or complex mechanical guiding mechanisms, resulting in long tool changing times and the risk of collision. Therefore, this invention addresses the shortcomings of the aforementioned technologies. Summary of the Invention

[0003] Based on the aforementioned technical problems, this invention proposes a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool.

[0004] This invention proposes a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool, comprising a flexible gripper for holding the tool, a tool arm constituting the tool magazine, and a servo motor for translating the tool arm as a whole. It also includes a translation guide rail supporting the tool arm, which is mounted on a guide rail bracket. A support slider is slidably engaged on the outer surface of the translation guide rail. A support panel is fixedly connected to one side surface of the support slider. The servo motor is fixedly mounted on one side surface of the support panel. Rotation of the servo motor's output shaft converts the rotation into linear motion of the support slider. A double swing mechanism is provided on one side surface of the support panel, and an adaptive attitude adjustment mechanism is provided on one side surface of the tool arm. A gear and rack transmission mechanism is provided between the output shaft of the servo motor and the surface of the translation guide rail.

[0005] The dual swing mechanism provides basic posture adjustment capability for the fixed cutter arm and performs coarse positioning when the flexible gripper holds the cutter.

[0006] The adaptive attitude adjustment mechanism performs the gripping action of the flexible gripper and has the function of final fine adjustment and locking of the tool clamping posture.

[0007] Preferably, the dual swing mechanism includes a support base plate fixedly connected to one side surface of the support panel, a support shaft rotatably connected to one side surface of the support base plate via a bearing, a support plate fixedly connected to the free end surface of the support shaft, a hinge ear plate fixedly connected to one side surface of the support plate, and a mounting block hinged to the surface of the hinge ear plate.

[0008] In order to enhance the posture adjustment capability and expand the range of motion of the cutter arm through the above technical solution, the rotational connection between the support shaft and the support base plate and the hinged cooperation between the mounting block and the hinge ear plate enable the cutter arm to have the basic posture adjustment function of rotating in two directions, providing structural support for subsequent fine posture adjustment.

[0009] Preferably, a lifting cylinder for controlling the raising and lowering of the cutter arm is fixedly inserted inside the mounting block, and an integrated frame with an integrated lifting guide rail is fixedly connected to one side surface of the mounting block. A lifting slider is slidably engaged on the outer surface of the lifting guide rail. The piston rod surface of the lifting cylinder is fixedly connected to the upper surface of the lifting slider. A rotary reducer is fixedly connected to the lower surface of the lifting slider through a connecting plate. A rotary servo motor is fixedly connected to one side surface of the rotary reducer. The outer surface of the output shaft of the rotary reducer is fixedly connected to one side surface of the cutter arm. The rotation of the rotary servo motor controls the rotary swing of the cutter arm through the rotary reducer.

[0010] In order to achieve the vertical lifting and horizontal rotation of the cutter arm through the above technical solution, the lifting cylinder pushes the lifting slider to move along the lifting guide rail to control the lifting of the cutter arm. At the same time, the rotary servo motor drives the rotary reducer to drive the cutter arm to rotate and swing around the axis, so that the cutter arm has a multi-degree-of-freedom coarse adjustment capability, providing a basis for precise positioning.

[0011] Preferably, the dual swing mechanism further includes a swing gear fixedly sleeved on the outer surface of the support shaft, a swing motor fixedly connected to one side surface of the support base plate, a drive gear fixedly connected to the outer surface of the output shaft of the swing motor, and the drive gear meshing with the swing gear.

[0012] In order to further expand the swing freedom of the cutter arm and achieve more flexible posture adjustment capabilities through the above technical solution, the drive gear is rotated by the swing motor, so that the drive gear meshes with the swing gear to drive the support shaft and support plate to swing around the axis, thereby coordinating the lifting and rotation movements to achieve multi-directional posture adjustment of the cutter arm in space.

[0013] Preferably, the double swing mechanism further includes a support lug fixedly connected to one side surface of the support plate. A rotating shaft is rotatably connected to the surface of the support lug via a bearing. A driven gear is fixedly sleeved on the outer surface of one end of the rotating shaft. An adjusting motor is fixedly connected to one side surface of the support plate. A driving gear is fixedly sleeved on the outer surface of the output shaft of the adjusting motor. The driving gear meshes with the driven gear. A connecting block is rotatably sleeved on the outer surface of the middle end of the rotating shaft. A connecting shaft is fixedly connected to one side surface of the connecting block. An adjusting threaded rod is rotatably sleeved on the outer surface of the connecting shaft. An adjusting block is hinged to one side surface of the mounting block. A driving bevel gear is fixedly sleeved on the outer surface of the other end of the rotating shaft. A driven bevel gear is fixedly sleeved on the outer surface of the lower end of the adjusting threaded rod. The driving bevel gear meshes with the driven bevel gear.

[0014] Through the above technical solution, in order to achieve two-stage precision angle adjustment of the tool arm posture and enhance the stability and accuracy of the posture adjustment system, the driving gear of the adjusting motor meshes with the driven gear, driving the rotating shaft to rotate. The driving bevel gear at the end of the rotating shaft meshes with the driven bevel gear, transmitting power to the adjusting threaded rod, causing it to rotate around its own axis. The adjusting threaded rod and the adjusting block form a helical transmission pair, converting the rotational motion into the linear displacement of the adjusting block. The adjusting block is hinged to the mounting block, thereby pushing the mounting block to make a precise angular deflection around the hinge point of the hinge ear plate, ultimately achieving fine adjustment of the tool arm's pitch or tilt posture. This linkage structure, through multi-stage gear and helical transmission, achieves high-precision and high-rigidity conversion from motor output to tool arm angle. It not only expands the degree of freedom of tool arm posture adjustment but also has motion self-locking capability, which can effectively suppress posture drift caused by machining vibration and improve the positioning repeatability and dynamic stability during tool clamping and exchange.

[0015] Preferably, the cutter arm adopts a Y-shaped structure, and the adaptive attitude adjustment mechanism includes a two-dimensional floating platform fixedly connected to the surfaces of the two branch arms of the cutter arm. The two-dimensional floating platform consists of two sets of sliding grooves and two sets of locking platforms. The locking platforms are slidably locked to the outer surfaces of the corresponding sliding grooves. The inner bottom surfaces of the two sliding grooves are rotatably connected to adjusting screws through bearing seats. The lower surface of the locking platform is fixedly connected to the screw sleeve surface threaded onto the outer surface of the adjusting screw. A rotary motor for driving the adjusting screw to rotate is fixedly connected to the inner bottom surface of the sliding groove. The two sets of sliding grooves and the two sets of locking platforms are arranged in a cross shape, and one side surface of the locking platform is fixedly connected to the surface of the other set of sliding grooves.

[0016] In order to achieve precise positioning and attitude floating adjustment of the tool in the plane, the above technical solution uses two sets of cross-shaped sliding grooves and a locking platform to form a two-dimensional floating platform. The adjusting screw driven by the rotating motor moves the locking platform in two vertical directions to adapt to the attitude requirements of different tools.

[0017] Preferably, the adaptive posture adjustment mechanism further includes a clamping platform fixedly connected to one side surface of the other clamping platform. The main body of the clamping platform is V-shaped, and a V-shaped positioning block is fixedly connected to one side surface of the clamping platform. Clamping arms are symmetrically distributed and hinged to the two ear plates of the clamping platform.

[0018] In order to improve the positioning stability and centering of the tool during the clamping process, the above technical solution uses the structural cooperation of the V-shaped clamping table and the V-shaped positioning block to make the tool naturally centered during clamping, and the symmetrically distributed clamping arms achieve uniform force distribution to avoid clamping deviation.

[0019] Preferably, a bidirectional screw is rotatably connected to the inner surface of the clamping platform. The two ends of the bidirectional screw are rotatably supported on one side surface of another clamping platform via a support side plate. A reduction gearbox and a clamping motor are fixedly connected to one side surface of the other clamping platform. One end of each of the two clamping arms is hinged with a clamping sleeve. The inner surface of the clamping sleeve is threadedly connected to the corresponding outer surface of the bidirectional screw.

[0020] In order to achieve synchronous opening and closing and stable clamping of the clamping arms through the above technical solution, the clamping motor drives the bidirectional screw to rotate, which drives the clamping sleeves on both sides to move symmetrically along the screw axis, thereby controlling the synchronous opening and closing of the clamping arms and ensuring uniform clamping force and accurate repeatable positioning.

[0021] Preferably, the adaptive attitude adjustment mechanism further includes an adjustment platform fixedly connected to the free end surface of the clamping arm. One side surface of the adjustment platform has an arc-shaped surface, and a deflection platform is slidably connected to the inner surface of the arc-shaped surface. Guide slides are symmetrically distributed and fixedly connected to the inner surface of the arc-shaped surface. One side surface of the deflection platform is slidably engaged with the outer surface of the guide slide. Arc-shaped teeth are fixedly connected to the arc-shaped convex surface of the deflection platform. A deflection motor is fixedly connected to one side surface of the adjustment platform. The output shaft of the deflection motor extends into the movable groove inside the adjustment platform, and an adjustment gear is fixedly sleeved on the outer surface of the output shaft of the deflection motor. The adjustment gear meshes with the arc-shaped teeth.

[0022] To achieve precise angle fine-tuning and posture self-adaptation of the flexible gripper end before tool clamping using the above technical solution, an adjusting gear at the output shaft of the deflection motor is driven to rotate. The adjusting gear meshes with the arc-shaped teeth fixed on the arc-shaped convex surface of the deflection table, converting the rotational motion of the motor into the sliding of the deflection table along the arc-shaped trajectory. One side surface of the deflection table slides and engages with the guide slides symmetrically distributed within the arc-shaped surface, ensuring that the deflection table moves smoothly along the preset arc-shaped path without deviation. The deflection table is fixedly connected to the flexible gripper, thereby driving the flexible gripper to perform a small-range arc-shaped deflection motion around its mounting point, achieving the final stage of angle fine-tuning of the tool clamping posture. This linkage structure has the following beneficial effects: by sliding the deflection table on the arc-shaped surface, the flexible gripper can be flexibly adjusted within a certain angle range to adapt to possible posture deviations of the tool during clamping, achieving a smooth transition from soft positioning to hard locking. At the same time, the meshing of the arc-shaped teeth and the adjusting gear provides continuous and smooth angle transmission. Combined with the constraint of the guide slides, it ensures that the deflection motion trajectory is accurate and without shaking, making it suitable for high-precision posture adjustment.

[0023] Preferably, one side surface of the flexible gripper is fixedly connected to one side surface of the deflection stage, the contact surface between the flexible gripper and the tool is a rubber bump pad, and laser displacement sensors are respectively installed on the offset side surfaces of the two flexible grippers.

[0024] To improve the intelligent adaptability and safety of the clamping process, the above technical solution involves setting rubber bump pads on the surface of the flexible gripper to increase friction and protect the tool. At the same time, a laser displacement sensor monitors the relative position of the gripper and the tool in real time and feeds it back to the control system to achieve dynamic attitude compensation, ensuring stable and reliable clamping.

[0025] The beneficial effects of this invention are as follows: 1. By setting up a dual swing mechanism including the swing of the support shaft and the fine adjustment of the mounting block angle, the basic posture adjustment of the tool arm in multiple degrees of freedom such as horizontal rotation, vertical lifting and lowering and multi-directional swing is realized. It has a wide range and high rigidity coarse positioning capability. Its multi-stage gear and helical transmission structure not only improves the motion accuracy and stability, but also has a self-locking function, which effectively suppresses the posture drift caused by machining vibration, and provides a reliable structural foundation for subsequent precision posture adjustment.

[0026] 2. By setting up an adaptive attitude adjustment mechanism that includes a two-dimensional floating platform, a V-shaped clamping table, a bidirectional screw synchronous drive, and an arc-shaped deflection fine adjustment, high-precision adaptive fine adjustment and locking of the tool clamping posture are achieved. The two-dimensional floating platform provides precise in-plane position compensation, and the arc-shaped tooth and gear transmission mechanism realizes fine adjustment of the end angle. With the real-time feedback of the laser displacement sensor, a closed-loop control of sensing, adjustment, and locking is formed, which significantly improves the centering, stability and repeatability of tool clamping. At the same time, the design of flexible grippers and rubber bump pads effectively protects the tool surface and enhances the reliability and adaptability of the system in high-speed and high-precision machining. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention; Figure 2 This is a schematic diagram of the structure of an existing milling and turning machine tool. Figure 3 This is a schematic diagram of a tool magazine structure in the prior art; Figure 4 This is a three-dimensional view of the dual swing mechanism structure of the dynamic attitude adjustment tool magazine of a five-axis milling and turning composite machine tool proposed in this invention; Figure 5 This is a three-dimensional view of the support axis structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 6 This is a three-dimensional view of the mounting block structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 7 This is a three-dimensional view of the rotating axis structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 8 This is a three-dimensional view of the adaptive attitude adjustment mechanism of the dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 9 This is a three-dimensional view of a two-dimensional floating platform structure for a dynamic attitude adjustment tool magazine of a five-axis milling and turning machine tool proposed in this invention. Figure 10 This is a three-dimensional view of the sliding groove structure of the dynamic attitude adjustment tool magazine of a five-axis milling and turning composite machine tool proposed in this invention; Figure 11 This is a three-dimensional view of the clamping table structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 12 This is a three-dimensional view of the bidirectional screw structure of the dynamic attitude adjustment tool magazine for a five-axis milling and turning composite machine tool proposed in this invention. Figure 13 This is a three-dimensional view of the clamping arm structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 14 This is a three-dimensional view of the deflection table structure of a dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention. Figure 15 This is a three-dimensional view of the arc-shaped tooth structure of the dynamic attitude adjustment tool magazine of a five-axis milling and turning composite machine tool proposed in this invention; Figure 16 This is a three-dimensional view of the adjustment platform structure of the dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool proposed in this invention.

[0028] In the diagram: 1. Flexible gripper; 2. Tool arm; 3. Servo motor; 4. Translation guide rail; 41. Guide rail bracket; 42. Support slider; 43. Support panel; 44. Lifting cylinder; 45. Lifting guide rail; 46. Integrated frame; 47. Lifting slider; 48. Rotary reducer; 49. Rotary servo motor; 5. Double swing mechanism; 51. Support base plate; 52. Support shaft; 53. Support plate; 54. Hinge ear plate; 55. Mounting block; 56. Swing gear; 57. Swing motor; 58. Drive gear; 59. Support ear plate; 60. Rotating shaft; 61. Driven gear; 62. Adjusting motor; 63. Drive gear; 64. Connecting block; 65. Connecting... 66. Shaft; 67. Adjusting threaded rod; 68. Adjusting block; 69. Driving bevel gear; 7. Adaptive attitude adjustment mechanism; 71. Two-dimensional floating platform; 711. Sliding groove; 712. Snap-fit ​​platform; 713. Adjusting screw; 714. Screw sleeve; 715. Rotary motor; 72. Clamping table; 73. Positioning block; 74. Clamping arm; 75. Bidirectional screw; 76. Reduction gearbox; 77. Clamping motor; 78. Clamping sleeve; 79. Adjusting table; 80. Arc-shaped surface; 81. Deflection table; 82. Guide slide; 83. Arc-shaped tooth; 84. Deflection motor; 85. Movable groove; 86. Adjusting gear; 87. Laser displacement sensor.

[0029] Existing technology Figures 2-3 In the middle section: 2-1, Tool arm; 2-2, Milling and turning composite spindle; 2-3, Tool arm translation guide rail; 2-4, Tool arm assembly translation servo motor; 2-5, Tool arm lifting cylinder; 2-6, Tool arm guide rail bracket; 2-7, Tool arm rotation servo motor; 2-8, Tool arm rotation reducer; 2-9, Tool head rotation servo motor; 2-10, Tool sleeve; 2-11, Tool head; 2-12, Tool head bracket. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Reference Figures 1-16A dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool is disclosed. To achieve coordinated control of the overall position adjustment of the tool magazine and the tool posture, the dynamic attitude adjustment tool magazine includes a flexible gripper 1 for clamping the tool, a tool arm 2 constituting the tool magazine, and a servo motor 3 for translating the tool arm 2 as a whole. It also includes a translation guide rail 4 supporting the tool arm 2, which is mounted on a guide rail bracket 41. A support slider 42 is slidably engaged on the outer surface of the translation guide rail 4. A support panel 43 is fixedly connected to one side surface of the support slider 42. The servo motor 3 is fixedly mounted on one side surface of the support panel 43. The rotation of the output shaft of the servo motor 3 converts the rotation into the rotation of the support slider 42. The linear motion is achieved by a double swing mechanism 5 on one side of the support panel 43 and an adaptive attitude adjustment mechanism 7 on one side of the tool arm 2. The output shaft of the servo motor 3 and the surface of the translation guide rail 4 are equipped with a gear and rack transmission mechanism. The servo motor 3 drives the support slider 42 to move linearly along the translation guide rail 4, which in turn drives the support panel 43, the double swing mechanism 5 and the tool arm 2 mounted on the panel to move as a whole. The double swing mechanism 5 then performs basic attitude adjustment on the tool arm 2, and the adaptive attitude adjustment mechanism 7 performs final fine adjustment and locking on the tool clamping attitude. This enables rapid positioning and adaptive attitude adjustment of the tool in three-dimensional space, improving tool changing accuracy and efficiency.

[0032] Among them, the double swing mechanism 5 provides basic posture adjustment capability for the fixed cutter arm 2 and performs coarse positioning when the flexible gripper 1 holds the cutter.

[0033] To enhance the posture adjustment capability of the cutter arm 2 and expand its range of motion, the dual swing mechanism 5 includes a support base plate 51 fixedly connected to one side surface of the support panel 43. A support shaft 52 is rotatably connected to one side surface of the support base plate 51 via a bearing. A support plate 53 is fixedly connected to the free end surface of the support shaft 52. A hinge ear plate 54 is fixedly connected to one side surface of the support plate 53. A mounting block 55 is hinged to the surface of the hinge ear plate 54. Through the rotatable connection between the support shaft 52 and the support base plate 51 and the hinged engagement between the mounting block 55 and the hinge ear plate 54, the cutter arm 2 has a basic posture adjustment function that allows it to rotate in two directions, providing structural support for subsequent fine posture adjustment.

[0034] To achieve the vertical lifting and horizontal rotation of the cutter arm 2, a lifting cylinder 44 for controlling the lifting of the cutter arm 2 is fixedly inserted inside the mounting block 55. An integrated frame 46, which integrates a lifting guide rail 45, is fixedly connected to one side surface of the mounting block 55. A lifting slider 47 is slidably engaged with the outer surface of the lifting guide rail 45. The piston rod surface of the lifting cylinder 44 is fixedly connected to the upper surface of the lifting slider 47. A rotary reducer 48 is fixedly connected to the lower surface of the lifting slider 47 via a connecting plate. A rotary servo motor 49 is fixedly connected to one side surface of the rotary reducer 48. The outer surface of the output shaft of the rotary reducer 48 is fixedly connected to one side surface of the cutter arm 2. The rotation of the rotary servo motor 49 controls the rotary swing of the cutter arm 2 through the rotary reducer 48. The lifting cylinder 44 pushes the lifting slider 47 to move along the lifting guide rail 45 to control the lifting of the cutter arm 2. At the same time, the rotary servo motor 49 drives the rotary reducer 48 to drive the cutter arm 2 to rotate and swing around the axis, so that the cutter arm 2 has a multi-degree-of-freedom coarse adjustment capability, providing a basis for precise positioning.

[0035] To further extend the swing freedom of the cutter arm 2 and achieve more flexible posture adjustment capabilities, the dual swing mechanism 5 also includes a swing gear 56 fixedly sleeved on the outer surface of the support shaft 52. A swing motor 57 is fixedly connected to one side surface of the support base plate 51. A drive gear 58 is fixedly connected to the outer surface of the output shaft of the swing motor 57. The drive gear 58 meshes with the swing gear 56. The swing motor 57 controls the rotation of the drive gear 58, so that the drive gear 58 meshes with the swing gear 56 to drive the support shaft 52 and the support plate 53 to swing around the axis, thereby coordinating lifting and rotational movements to achieve multi-directional posture adjustment of the cutter arm 2 in space.

[0036] To achieve two-stage precision angle adjustment of the blade arm 2's posture and enhance the stability and accuracy of the attitude adjustment system, the dual swing mechanism 5 also includes a support ear plate 59 fixedly connected to one side surface of the support plate 53. A rotating shaft 60 is rotatably connected to the surface of the support ear plate 59 via bearings. A driven gear 61 is fixedly sleeved on the outer surface of one end of the rotating shaft 60. An adjusting motor 62 is fixedly connected to one side surface of the support plate 53. A driving gear 63 is fixedly sleeved on the outer surface of the output shaft of the adjusting motor 62, meshing with the driven gear 61. A connecting block 64 is rotatably sleeved on the outer surface of the middle end of the rotating shaft 60. A connecting shaft 65 is fixedly connected to one side surface of the connecting block 64. An adjusting threaded rod 66 is rotatably sleeved on the outer surface of the connecting shaft 65. An adjusting block 67 is hinged to one side surface of the mounting block 55. A driving bevel gear 68 is fixedly sleeved on the outer surface of the other end of the rotating shaft 60. A driven bevel gear 69 is fixedly sleeved on the outer surface of the lower end of the adjusting threaded rod 66. The moving bevel gear 68 meshes with the driven bevel gear 69, and the adjusting motor 62 drives the driving gear 63 to mesh with the driven gear 61, which in turn drives the rotating shaft 60 to rotate. The driving bevel gear 68 and the driven bevel gear 69 at the end of the rotating shaft 60 mesh, transmitting power to the adjusting threaded rod 66, causing it to rotate around its own axis. The adjusting threaded rod 66 and the adjusting block 67 form a helical transmission pair, converting the rotational motion into the linear displacement of the adjusting block 67. The adjusting block 67 is hinged to the mounting block 55, thereby pushing the mounting block 55 to make a precise angular deflection around the hinge point of the hinge ear plate 54, ultimately achieving fine adjustment of the pitch or tilt posture of the tool arm 2. This linkage structure, through multi-stage gear and helical transmission, achieves high-precision and high-rigidity conversion from motor output to the angle of the tool arm 2. It not only expands the degree of freedom of the tool arm 2's posture adjustment, but also has a motion self-locking capability, which can effectively suppress posture drift caused by machining vibration and improve the positioning repeatability and dynamic stability during tool clamping and exchange.

[0037] By setting up a dual swing mechanism 5, which includes the swing of the support shaft 52 and the fine-tuning of the mounting block 55, the basic posture adjustment of the tool arm 2 in multiple degrees of freedom such as horizontal rotation, vertical lifting and lowering, and multi-directional swing is realized. It has a wide range and high rigidity coarse positioning capability. Its multi-stage gear and helical transmission structure not only improves the motion accuracy and stability, but also has a self-locking function, which effectively suppresses the posture drift caused by machining vibration, and provides a reliable structural foundation for subsequent precision posture adjustment.

[0038] Among them, the adaptive posture adjustment mechanism 7 performs the gripping action of the flexible gripper 1, and has the function of final fine adjustment and locking of the tool clamping posture.

[0039] To achieve precise positioning and attitude adjustment of the tool in a plane, the tool arm 2 adopts a Y-shaped structure. The adaptive attitude adjustment mechanism 7 includes a two-dimensional floating platform 71 fixedly connected to the surfaces of the two branch arms of the tool arm 2. The two-dimensional floating platform 71 consists of two sets of sliding grooves 711 and two sets of locking platforms 712. The locking platform 712 is slidably locked with the outer surface of the corresponding sliding groove 711. The inner bottom surfaces of the two sliding grooves 711 are rotatably connected to the adjusting screw 713 through bearing seats. The lower surface of the locking platform 712 is threadedly sleeved with the outer surface of the adjusting screw 713. The lever sleeve 714 is fixedly connected to the surface, and the inner bottom surface of the sliding groove 711 is fixedly connected to a rotary motor 715 that drives the adjusting screw 713 to rotate. The two sets of sliding grooves 711 and the two sets of locking platforms 712 are arranged in a cross shape, and one side surface of the locking platform 712 is fixedly connected to the surface of the other set of sliding grooves 711. The two sets of cross-shaped sliding grooves 711 and locking platforms 712 form a two-dimensional floating platform 71, and the rotary motor 715 drives the adjusting screw 713 to move the locking platform 712 in two vertical directions, thereby adapting to the posture requirements of different tools.

[0040] To improve the positioning stability and centering of the tool during clamping, the adaptive attitude adjustment mechanism 7 also includes a clamping platform 72 fixedly connected to one side surface of another clamping platform 712. The main body of the clamping platform 72 is V-shaped, and a V-shaped positioning block 73 is fixedly connected to one side surface of the clamping platform 72. Clamping arms 74 are symmetrically distributed and hinged to the two ear plates of the clamping platform 72. Through the structural cooperation between the V-shaped clamping platform 72 and the V-shaped positioning block 73, the tool is naturally centered during clamping, and uniform force is achieved through the symmetrically distributed clamping arms 74 to avoid clamping deviation.

[0041] To achieve synchronous opening and closing and stable clamping of the clamping arms 74, a bidirectional screw 75 is rotatably connected to the inner surface of the clamping platform 72. The two ends of the bidirectional screw 75 are rotatably supported on one side surface of another clamping platform 712 through the support side plate. A reduction gearbox 76 and a clamping motor 77 are fixedly connected to one side surface of the other clamping platform 712. One end of each of the two clamping arms 74 is hinged with a clamping sleeve 78. The inner surface of the clamping sleeve 78 is threadedly connected to the outer surface of the corresponding end of the bidirectional screw 75. The clamping motor 77 drives the bidirectional screw 75 to rotate, causing the clamping sleeves 78 on both sides to move symmetrically along the screw axis, thereby controlling the synchronous opening and closing of the clamping arms 74 and ensuring uniform clamping force and accurate repeatable positioning.

[0042] To achieve precise angle fine-tuning and attitude self-adaptation of the flexible gripper 1 before tool clamping, the adaptive attitude adjustment mechanism 7 further includes an adjustment platform 79 fixedly connected to the free end surface of the gripping arm 74. One side surface of the adjustment platform 79 has an arc-shaped surface 80. A deflection platform 81 is slidably connected to the inner surface of the arc-shaped surface 80. Guide slides 82 are symmetrically distributed and fixedly connected to the inner surface of the arc-shaped surface 80. One side surface of the deflection platform 81 is slidably engaged with the outer surface of the guide slide 82. Arc-shaped teeth 83 are fixedly connected to the arc-shaped convex surface of the deflection platform 81. A deflection motor 84 is fixedly connected to one side surface of the adjustment platform 79. The output shaft of the deflection motor 84 extends into the movable groove 85 inside the adjustment platform 79. An adjustment gear 86 is fixedly sleeved on the outer surface of the output shaft of the deflection motor 84. The adjustment gear 86 meshes with the arc-shaped teeth 83. The deflection motor 84 drives the adjustment gear 86 at the output shaft end to rotate. The adjustment gear 86 engages with the arc-shaped teeth 83 fixed to the arc-shaped convex surface of the deflection platform 81. The arc-shaped teeth 83 on the convex surface mesh with each other, converting the rotational motion of the motor into the sliding motion of the deflection table 81 along the arc-shaped trajectory. One side surface of the deflection table 81 slides and engages with the guide slides 82 symmetrically distributed in the arc-shaped surface 80, ensuring that the deflection table 81 moves smoothly along the preset arc-shaped path without deviation. The deflection table 81 is fixedly connected to the flexible gripper 1, thereby driving the flexible gripper 1 to make a small-range arc-shaped deflection motion around its mounting point, realizing the final stage of fine-tuning the angle of the tool clamping posture. This linkage structure has the following beneficial effects: through the sliding of the deflection table 81 on the arc-shaped surface 80, the flexible gripper 1 can be flexibly adjusted within a certain angle range to adapt to the posture deviation that may occur during the tool clamping process, realizing a smooth transition from soft positioning to hard locking. At the same time, the meshing of the arc-shaped teeth 83 and the adjusting gear 86 provides continuous and smooth angle transmission. Combined with the constraint of the guide slides 82, it ensures that the deflection motion trajectory is accurate and without shaking, which is suitable for high-precision posture adjustment.

[0043] To improve the intelligent adaptability and safety of the clamping process, one side surface of the flexible gripper 1 is fixedly connected to one side surface of the deflection stage 81. The contact surface between the flexible gripper 1 and the tool is a rubber bump pad. Laser displacement sensors 87 are installed on the offset sides of the two flexible grippers 1 respectively. The rubber bump pad on the surface of the flexible gripper 1 increases friction and protects the tool. At the same time, the laser displacement sensor 87 monitors the relative position of the gripper and the tool in real time and feeds it back to the control system to achieve dynamic attitude compensation, ensuring stable and reliable clamping.

[0044] By setting up an adaptive attitude adjustment mechanism 7 that includes a two-dimensional floating platform 71, a V-shaped clamping table 72, a bidirectional screw 75 for synchronous drive, and an arc-shaped deflection fine adjustment, high-precision adaptive fine adjustment and locking of the tool clamping posture are achieved. The two-dimensional floating platform 71 provides precise in-plane position compensation, the arc-shaped tooth 83 and gear transmission mechanism realize fine adjustment of the end angle, and with the real-time feedback of the laser displacement sensor 87, a closed-loop control of sensing, adjustment and locking is formed, which significantly improves the centering, stability and repeatability of tool clamping. At the same time, the design of the flexible gripper 1 and the rubber bump pad effectively protects the tool surface and enhances the reliability and adaptability of the system in high-speed and high-precision machining.

[0045] Working principle: In a specific embodiment of the present invention, after the tool changing program is started, the servo motor 3 drives the support slider 42 to move linearly along the translation guide rail 4 through the transmission mechanism, thereby moving the support panel 43, the double swing mechanism 5 and the tool arm 2 as a whole to the vicinity of the target tool. First, under the monitoring of the laser displacement sensor 87, the swing motor 57 drives the support shaft 52 to rotate through the meshing of the drive gear 58 and the swing gear 56, causing the support plate 53 to swing around the axis, thereby realizing the swing adjustment of the cutter arm 2 in the horizontal plane. The lifting cylinder 44 pushes the lifting slider 47 to move along the lifting guide rail 45, thereby realizing the vertical lifting of the cutter arm 2. The rotary servo motor 49 drives the cutter arm 2 to rotate around the vertical axis through the rotary reducer 48, thereby realizing the angle adjustment in the horizontal direction. Then, the adjusting motor 62 drives the rotating shaft 60 to rotate through the meshing of the driving gear 63 and the driven gear 61. Then, through the transmission of the driving bevel gear 68 and the driven bevel gear 69, it drives the adjusting threaded rod 66 to rotate. The helical pair formed by the adjusting threaded rod 66 and the adjusting block 67 converts the rotation into linear displacement, pushing the mounting block 55 to deflect around the hinge point, realizing the two-level fine adjustment of the pitch or tilt posture of the cutter arm 2. Through the multi-level coordination of swing, lifting, rotation and angle fine adjustment, the cutter arm 2 can achieve a large range and multiple degrees of freedom of attitude coarse positioning in three-dimensional space, laying the foundation for subsequent precise clamping. After the spatial posture of the cutter arm 2 is in place, more precise local adjustments are made. The two-dimensional floating platform 71 located on each branch of the Y-shaped cutter arm 2 starts to work. Its rotating motor 715 drives the adjusting screw 713 to rotate. That is, the screw sleeve 714 on the adjusting screw 713 drives the clamping platform 712 to move linearly within its nested sliding groove 711. Since the two sets of sliding grooves 711 and the clamping platform 712 are arranged in a cross shape, the clamping mechanism can achieve independent and precise position compensation in the X and Y directions in the plane through the coordinated drive of the two directional motors. When the V-shaped opening and V-shaped positioning block 73 of the clamping table 72 approach the tool, they can guide the tool shank to slide in and center automatically. Then, the clamping motor 77 drives the bidirectional screw 75 to rotate through the reduction gearbox 76. The rotation of the bidirectional screw 75 causes the two clamping sleeves 78 that are threaded to it to move synchronously and in opposite directions along the screw axis, thereby driving the two clamping arms 74 that are hinged to it to achieve synchronous and symmetrical closing or opening movements, completing the initial clamping or releasing preparation for the tool. When the clamping arm 74 is about to close or has already lightly touched the tool, the deflection motor 84 starts and drives the adjusting gear 86 to rotate. The adjusting gear 86 meshes with the arc-shaped teeth 83 fixed on the arc-shaped convex surface of the deflection table 81, converting the rotational motion of the motor into the sliding of the deflection table 81 along the arc-shaped surface 80 on the adjusting table 79. The guide slide 82 ensures that the sliding trajectory is accurate and without deflection. The deflection table 81 drives the flexible gripper 1 fixed to it to deflect at a small angle around the mounting point. Laser displacement sensors 87 mounted on two flexible grippers 1 continuously emit lasers and receive reflected signals in real time. When the sensor feedback indicates that the position and attitude error is within the allowable range, the control system issues a final locking command. The clamping motor 77 increases the torque and drives the bidirectional screw 75 to make the clamping arm 74 firmly clamp the tool with a set constant force. The rubber bump pads on the flexible grippers 1 provide sufficient friction while effectively avoiding scratching the surface of the precision tool.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool, comprising a flexible gripper (1) for holding the tool, a tool arm (2) constituting the tool magazine, and a servo motor (3) for translating the tool arm (2) as a whole, and further comprising a translation guide rail (4) for supporting the tool arm (2), characterized in that: The translation guide rail (4) is mounted on the guide rail bracket (41). The outer surface of the translation guide rail (4) is slidably engaged with the support slider (42). A support panel (43) is fixedly connected to one side surface of the support slider (42). The servo motor (3) is fixedly mounted on one side surface of the support panel (43). After the output shaft of the servo motor (3) rotates, it converts the rotation into the linear motion of the support slider (42). A double swing mechanism (5) is provided on one side surface of the support panel (43). An adaptive posture adjustment mechanism (7) is provided on one side surface of the blade arm (2). The dual swing mechanism (5) provides basic posture adjustment capability for the fixed cutter arm (2) and performs coarse positioning when the flexible gripper (1) holds the cutter. The adaptive posture adjustment mechanism (7) performs the gripping action of the flexible gripper (1) and has the function of final fine adjustment and locking of the tool gripping posture. The adaptive posture adjustment mechanism (7) includes a two-dimensional floating platform (71) that is fixedly connected to the surfaces of the two branch arms of the blade arm (2). The two-dimensional floating platform (71) is composed of two sets of sliding grooves (711) and two sets of snap-fit ​​platforms (712). The snap-fit ​​platform (712) is slidably snapped to the outer surface of the corresponding sliding groove (711). The blade arm (2) adopts a Y-shaped structure. The inner bottom surfaces of the two sliding grooves (711) are rotatably connected to the adjusting screw (713) through the bearing seat. The lower surface of the locking platform (712) is fixedly connected to the surface of the screw sleeve (714) threaded onto the outer surface of the adjusting screw (713). The inner bottom surface of the sliding groove (711) is fixedly connected to the rotating motor (715) that drives the adjusting screw (713) to rotate. The two sets of sliding grooves (711) and the two sets of locking platforms (712) are arranged in a cross shape. One side surface of the locking platform (712) is fixedly connected to the surface of the other set of sliding grooves (711). The adaptive posture adjustment mechanism (7) further includes a clamping platform (72) fixedly connected to one side surface of another clamping platform (712). The main body of the clamping platform (72) is V-shaped. A positioning block (73) in the shape of V is fixedly connected to one side surface of the clamping platform (72). Clamping arms (74) are symmetrically distributed and hinged to the two ear plates of the clamping platform (72). A bidirectional screw (75) is rotatably connected to the inner surface of the clamping platform (72). The two ends of the bidirectional screw (75) are rotatably supported on one side surface of another clamping platform (712) through the support side plate. A reduction gearbox (76) and a clamping motor (77) are fixedly connected to one side surface of another clamping platform (712). A clamping sleeve (78) is hinged to one end of each of the two clamping arms (74). The inner surface of the clamping sleeve (78) is threadedly connected to the corresponding outer surface of the bidirectional screw (75). The adaptive attitude adjustment mechanism (7) further includes an adjustment platform (79) fixedly connected to the free end surface of the clamping arm (74). An arc-shaped surface (80) is opened on one side surface of the adjustment platform (79), and a deflection platform (81) is slidably connected to the inner surface of the arc-shaped surface (80). Laser displacement sensors (87) are respectively installed on the offset side surfaces of the two flexible grippers (1).

2. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 1, characterized in that: The double swing mechanism (5) includes a support base plate (51) fixedly connected to one side surface of the support panel (43). A support shaft (52) is rotatably connected to one side surface of the support base plate (51) via a bearing. A support plate (53) is fixedly connected to the free end surface of the support shaft (52). A hinge ear plate (54) is fixedly connected to one side surface of the support plate (53). A mounting block (55) is hinged to the surface of the hinge ear plate (54).

3. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 2, characterized in that: The mounting block (55) has a lifting cylinder (44) for controlling the lifting of the cutter arm (2) fixedly inserted inside. An integrated frame (46) integrating a lifting guide rail (45) is fixedly connected to one side surface of the mounting block (55). A lifting slider (47) is slidably engaged on the outer surface of the lifting guide rail (45). The piston rod surface of the lifting cylinder (44) is fixedly connected to the upper surface of the lifting slider (47). A rotary reducer (48) is fixedly connected to the lower surface of the lifting slider (47) through a connecting plate. A rotary servo motor (49) is fixedly connected to one side surface of the rotary reducer (48). The outer surface of the output shaft of the rotary reducer (48) is fixedly connected to one side surface of the cutter arm (2). The rotation of the rotary servo motor (49) controls the rotary swing of the cutter arm (2) through the rotary reducer (48).

4. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 3, characterized in that: The double swing mechanism (5) further includes a swing gear (56) fixedly sleeved on the outer surface of the support shaft (52). A swing motor (57) is fixedly connected to one side surface of the support base plate (51). A drive gear (58) is fixedly connected to the outer surface of the output shaft of the swing motor (57). The drive gear (58) meshes with the swing gear (56).

5. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 4, characterized in that: The double swing mechanism (5) further includes a support ear plate (59) fixedly connected to one side surface of the support plate (53). A rotating shaft (60) is rotatably connected to the surface of the support ear plate (59) via a bearing. A driven gear (61) is fixedly sleeved on the outer surface of one end of the rotating shaft (60). An adjusting motor (62) is fixedly connected to one side surface of the support plate (53). A driving gear (63) is fixedly sleeved on the outer surface of the output shaft of the adjusting motor (62). The driving gear (63) meshes with the driven gear (61). The rotating shaft (60) A connecting block (64) is rotatably sleeved on the outer surface of the middle end of the rotating shaft (60). A connecting shaft (65) is fixedly connected to one side surface of the connecting block (64). An adjusting threaded rod (66) is rotatably sleeved on the outer surface of the connecting shaft (65). An adjusting block (67) is hingedly installed on one side surface of the mounting block (55). A driving bevel gear (68) is fixedly sleeved on the outer surface of the other end of the rotating shaft (60). A driven bevel gear (69) is fixedly sleeved on the outer surface of the lower end of the adjusting threaded rod (66). The driving bevel gear (68) meshes with the driven bevel gear (69).

6. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 5, characterized in that: The inner surface of the arc-shaped surface (80) is symmetrically distributed with guide slides (82) fixedly connected. One side surface of the deflection platform (81) is slidably engaged with the outer surface of the guide slides (82). The arc-shaped convex surface of the deflection platform (81) is fixedly connected with arc-shaped teeth (83). One side surface of the adjustment platform (79) is fixedly connected with a deflection motor (84). The output shaft of the deflection motor (84) extends to the movable groove (85) inside the adjustment platform (79). An adjustment gear (86) is fixedly sleeved on the outer surface of the output shaft of the deflection motor (84). The adjustment gear (86) meshes with the arc-shaped teeth (83).

7. The dynamic attitude adjustment tool magazine for a five-axis milling and turning machine tool according to claim 6, characterized in that: One side surface of the flexible gripper (1) is fixedly connected to one side surface of the deflection stage (81), and the contact surface between the flexible gripper (1) and the tool is a rubber bump pad.

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