Horizontal hybrid machine tool with over-constrained redundant drive parallel spindle head and method

Abstract

The application provides a horizontal hybrid machine tool with over-constrained redundant driving parallel spindle head and a method thereof.The horizontal hybrid machine tool comprises a base plate, left and right sides of the base plate are respectively provided with a series module and a parallel module, an end effector is installed on one side of the parallel module facing the series module, the parallel module comprises a parallel support, four branch chain mechanisms are uniformly distributed in the parallel support, and two opposite branch chain mechanisms are provided with a movable platform between one end of the series module facing the two opposite branch chain mechanisms, the two movable platforms are correspondingly provided in front of and behind the branch chain mechanisms along the movement direction of the branch chain mechanisms, and the two movable platforms are rotationally connected to form an effector mounting table.The application has the advantages of reasonable design, realization of five-degree-of-freedom movement capability of the end effector relative to a workpiece on a processing workbench of the series module, and the like.The hybrid machine tool has the characteristics of large working space, strong bearing capacity, high rigidity, high precision and the like, and has a wide application prospect in the field of high-speed, precision and high-rigidity processing.

Description

Technical Field

[0001] This invention relates to a horizontal hybrid machine tool and method comprising an over-constrained redundant drive parallel spindle head. Background Technology

[0002] In the manufacturing fields of new energy vehicles, high-speed trains, large ships, new-generation domestically produced large aircraft, and large-diameter carrier rockets, high-end CNC machine tools need to process parts with complex structures, thin walls, easy deformation, and high metal removal rates. Hybrid machine tools, which inherit the advantages of parallel robots and traditional serial machine tools in terms of workspace, speed, precision, rigidity, and flexibility, are considered a solution for the efficient processing of such complex parts. This has been confirmed in commercially available hybrid machining equipment such as the Exechon mechanism proposed in patent WO2006054935, the Tricept mechanism proposed in patent US4732525, and the TriVariant mechanism proposed in patent CN1524662A. From a topological perspective, currently successful commercial hybrid machine tools all adopt a design scheme with two rotary and one translational parallel mechanisms as their core functional modules.

[0003] Among these parallel mechanisms with two rotations and one translation, compared to non-redundant drive parallel mechanisms, redundant drive parallel mechanisms have the advantages of eliminating singularities, improving mechanism stiffness and dexterity, and are more suitable for building hybrid machine tools with high load capacity and high dynamic stability. Numerous hybrid machine tool designs have emerged, using a two-rotation-one-translation redundant drive parallel mechanism as the main body, connected in series with a two-degree-of-freedom xy-motion platform or a large-angle rotary head. For example, patent CN201911216399.6 proposes a vertical hybrid machine tool with an over-constrained, low-degree-of-freedom parallel module, and patent CN201820974253.2 proposes a spatial five-degree-of-freedom hybrid machining equipment with redundant constraints. However, these mechanisms still have disadvantages such as small angular space, poor accuracy retention, difficult manufacturing and assembly, and insufficient performance asymmetry, which limits their engineering applications to a certain extent, and they can only be adapted to some shallow relief machining with small curvature surfaces. Therefore, how to develop a five-axis hybrid machine tool with a symmetrical structure, symmetrical motion / mechanical properties, symmetrical workspace, no ball joints (which are difficult to manufacture and have poor precision retention), and large angular motion capability remains a major challenge for the academic and engineering communities. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a horizontal hybrid machine tool and method with a parallel spindle head containing over-constrained redundant drive. The horizontal hybrid machine tool has a simple structure, high rigidity, good accuracy retention, and large angular motion capability.

[0005] The present invention is implemented using the following scheme: a horizontal hybrid machine tool with over-constrained redundant drive parallel spindle head: including a base plate, wherein a series module and a parallel module are respectively arranged on the left and right sides of the base plate, and an end effector is installed on the side of the parallel module facing the series module.

[0006] Furthermore, the parallel module includes a parallel support, with four branch mechanisms evenly distributed around the inner circumference of the parallel support. A movable platform is horizontally placed between two opposing branch mechanisms facing one end of the serial module. The two movable platforms are arranged correspondingly back and forth along the movement direction of the branch mechanisms, and the two movable platforms are rotatably connected to form an actuator mounting platform. The end effector is mounted on the actuator mounting platform.

[0007] Furthermore, the branch mechanism includes a Z-axis linear module facing the serial module, a Z-axis sliding frame is mounted on the sliding block of the Z-axis linear module, and a connecting rod swing arm is rotatably connected to the Z-axis sliding frame. The end of the connecting rod swing arm facing the serial module is hinged to the outer periphery of the corresponding movable platform via a Hooke joint.

[0008] Furthermore, the parallel bracket includes at least two parallel bases, which are fixed to the base plate. A fixing cylinder is provided on the parallel base, and the fixing cylinder is connected to the parallel base through several ribs. The mating ends of adjacent fixing cylinders are connected through a connecting cylinder. Each fixing cylinder and the connecting cylinder together form an installation cylinder, and the Z-axis linear module is evenly distributed on the inner wall of the installation cylinder.

[0009] Furthermore, the series module includes a series support, on the middle of the side of the series support facing the parallel module, a horizontal X-axis linear module is provided, an X-axis sliding frame is installed on the sliding block of the X-axis linear module, a vertical Y-axis linear module is installed on the X-axis sliding frame, and a vertical processing worktable is installed on the sliding block of the Y-axis linear module.

[0010] Furthermore, the series support includes series fixing frames arranged symmetrically front and rear. The series fixing frames are fixed to the base plate, and a series fixing plate is placed horizontally between the two series fixing frames facing the parallel module. The X-axis linear module is fixed to the series fixing plate.

[0011] Furthermore, the Z-axis linear module, X-axis linear module, and Y-axis linear module are all lead screw sliding mechanisms. The lead screw sliding mechanism includes a lead screw mounting bracket, on which a lead screw is rotatably connected. A motor base is provided at one end of the lead screw mounting bracket, and a motor for driving the lead screw to rotate is installed inside the motor base. A sliding block is configured on the lead screw that slides as the lead screw rotates.

[0012] Furthermore, the two movable platforms are rotatably connected by bearings. The two movable platforms have interconnected actuator mounting holes in the middle. On the movable platform closer to the serial module, an actuator fixing front seat is installed on the side facing the serial module corresponding to the actuator mounting hole. On the movable platform away from the serial module, an actuator fixing rear seat is rotatably connected on the side facing away from the serial module. The end effector is sleeved in the actuator mounting hole, and the two ends of the end effector extend out of the actuator mounting hole and are respectively fixed in the actuator fixing front seat and actuator fixing rear seat.

[0013] Furthermore, both movable platforms are plate-shaped and arranged in a cross shape. The ends of the two movable platforms are hinged to the corresponding connecting rod arms via Hooke's joints.

[0014] A working method for a horizontal hybrid machine tool with a parallel spindle head and over-constrained redundant drive: In the four branch mechanisms, two opposing branch mechanisms and the corresponding moving platform form two closed-loop motion branches, which constitute a closed motion chain. The sliding blocks on the four branch mechanisms are coupled along the active linear motion of the Z-axis to form a three-degree-of-freedom motion of the end effector rotating around the X-axis and Y-axis and moving along the Z-axis. At the same time, the sliding blocks on the X-axis linear module and Y-axis linear module of the serial module slide to form a two-degree-of-freedom motion of the machining table. The three-degree-of-freedom motion of the end effector rotating around the X-axis and Y-axis and moving along the Z-axis is combined with the two-degree-of-freedom motion of the machining table, so that the end effector has a five-degree-of-freedom motion capability relative to the workpiece on the machining table.

[0015] Compared with the prior art, the present invention has the following advantages: it is reasonably designed to realize the five-degree-of-freedom motion capability of the end effector relative to the workpiece on the machining table of the serial module; at the same time, it has the structural features of single motion chain type, no ball joints, over-constraint, redundant drive and high degree of modularity; the hybrid machine tool has the characteristics of large working space, strong load-bearing capacity, high rigidity and high precision, and has a wide range of application prospects in the fields of high speed, precision and high rigidity machining. Attached Figure Description

[0016] Figure 1 This is a structural illustration of an embodiment of the present invention. Figure 1 ; Figure 2 This is a structural illustration of an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the parallel module structure according to an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the parallel module structure according to an embodiment of the present invention (excluding the two opposing Z-axis linear modules and the movable platform between them). Figure 5 This is a cross-sectional view of the actuator mounting platform according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the parallel module structure according to an embodiment of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the workspace according to an embodiment of the present invention.

[0017] In the diagram: 100-Base plate; 200-Series module; 210-Series support; 211-Series fixing frame; 212-Series fixing plate; 220-X-axis linear module; 221-X-axis sliding frame; 230-Y-axis linear module; 240-Machining worktable; 300-Parallel module; 310-Parallel support; 311-Parallel base; 312-Fixing cylinder; 313-Rib plate; 314-Connecting cylinder; 320-Branch mechanism; 3201-Z-axis linear module; 3202-Z-axis sliding frame; 3203-Connecting arm; 3204-Hooke hinge; 3204-1-First connecting seat; 320 4-2-Second connecting seat; 3204-3-Dog-mouth type connecting seat; 3204-4-First rotating shaft; 3204-5-Second rotating shaft; 321-First branch mechanism; 322-Second branch mechanism; 323-Third branch mechanism; 324-Fourth branch mechanism; 330-Moving platform; 3301-Bearing; 3302-Actuator mounting hole; 3303-Actuator fixed front seat; 3304-Actuator fixed rear seat; 400-End actuator; 500-Screw sliding mechanism; 510-Screw mounting bracket; 520-Screw; 530-Motor seat; 540-Motor; 550-Sliding block; SP1 - First branch Z-axis linear module axis, SR1 - First branch connecting rod swing arm rotation axis, SU11 - First branch Hooke hinge first axis, SU12 - First branch Hooke hinge second axis, SP2 - Second branch Z-axis linear module axis, SR2 - Second branch connecting rod swing arm rotation axis, SU21 - Second branch Hooke hinge first axis, SU22 - Second branch Hooke hinge second axis, SP3 - Third branch Z-axis linear module axis, SR3 - Third branch connecting rod swing arm rotation axis, SU31 - Third branch Hooke hinge first axis, SU32 - Third branch Hooke hinge second axis, SP4 - Fourth branch Z-axis linear module axis, SR4 - Fourth branch connecting rod swing arm rotation axis, SU41 - Fourth branch Hooke hinge first axis, SU42 - Fourth branch Hooke hinge second axis, SR5 - Rotation axis of the two movable platforms. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] like Figure 1-6 As shown, a horizontal hybrid machine tool with an over-constrained redundant drive parallel spindle head includes a base plate 100. A series module 200 and a parallel module 300 are respectively arranged on the left and right sides of the base plate. An end effector 400 is installed on the side of the parallel module facing the series module. That is, the parallel module is an over-constrained redundant drive parallel spindle head with an end effector. The parallel module enables the end effector to have three degrees of freedom of motion: rotation around the X and Y axes and movement along the Z axis. Simultaneously, the series module enables the machining table to have two degrees of freedom of movement (X and Y). Combined, the end effector has five degrees of freedom of motion relative to the workpiece on the machining table.

[0022] In this embodiment, to achieve the composition and installation of a parallel spindle head with over-constrained redundant drive, and to enable the end effector to have three degrees of freedom of motion—rotation around the X and Y axes and movement along the Z axis—the parallel module includes a parallel support 310. Four branch mechanisms 320 are evenly distributed around the inner circumference of the parallel support. A movable platform 330 is horizontally placed between two opposing branch mechanisms facing the end of the serial module. That is, a movable platform is horizontally placed between two opposing branch mechanisms facing the end of the serial module, forming two movable platforms. The two movable platforms move along the branch mechanisms. The two movable platforms are arranged in a front-to-back correspondence, meaning that they overlap along the movement direction of the branch mechanism to avoid interference. The two movable platforms are rotatably connected to form an actuator mounting platform, and the end effector is mounted on the actuator mounting platform. More specifically, the branch mechanism includes a Z-axis linear module 3201 facing the serial module. A Z-axis sliding frame 3202 is mounted on the sliding block of the Z-axis linear module. A connecting rod swing arm 3203 is rotatably connected to the Z-axis sliding frame. The end of the connecting rod swing arm facing the serial module is hinged to the outer periphery of the corresponding movable platform via a Hooke hinge 3204. The Z-axis sliding frame and the end of the connecting rod arm are connected by an existing rotating shaft. The sliding axis of the Z-axis linear module is perpendicular to the rotating shaft axis at the corresponding rotating connection of the connecting rod arm. The Hooke joint is a universal joint. Specifically, the Hooke joint includes a first connecting seat 3204-1, a second connecting seat 3204-2, and a jaw-shaped connecting seat 3204-3. The first connecting seat is fixed to the end of the connecting rod arm, and the second connecting seat is fixed to the movable platform. The end of the first connecting seat is rotatably connected to the jaw of the jaw-shaped connecting seat via a first rotating shaft 3204-4. A second rotating shaft 3204-5 is fixedly connected to the bottom surface of the jaw-shaped connecting seat. The second rotating shaft is rotatably connected to the end of the second connecting seat. The first rotating shaft and the second rotating shaft are perpendicular to each other. The first rotating shaft is parallel to the axis of rotation at the rotating connection of the corresponding connecting rod arm, and the second rotating shaft is perpendicular to the axis of rotation at the rotating connection of the corresponding connecting rod arm. The sliding axes of the four Z-axis linear modules are parallel to each other, and the axes of rotation of the connecting rods on the two opposite branch mechanisms are parallel to each other. The second axes of rotation on the two opposite Hooke hinges are collinear, and the axes of the second axes of rotation on adjacent Hooke hinges are perpendicular to each other. The axis of rotation between the two movable platforms is perpendicular to the axis of each of the second rotating axes, and the axis of rotation between the two movable platforms intersects at the intersection point of the axes of each of the second rotating axes; Simultaneously, the four branch mechanisms are divided into: a first branch mechanism 321 and a second branch mechanism 322 arranged opposite to each other, and a third branch mechanism 323 and a fourth branch mechanism 324 arranged opposite to each other. The first branch mechanism, the second branch mechanism, the third branch mechanism and the fourth branch mechanism apply two equal constraint forces along the axis of the first branch revolute joint, two equal constraint forces along the axis of the third branch revolute joint, and two constraint couples that are simultaneously perpendicular to the first axis of the Hooke hinge of the first branch and the second axis of the Hooke hinge of the first branch, forming a symmetrical arrangement of motion constraints.

[0023] In this embodiment, in order to realize the installation of the parallel bracket, the parallel bracket includes at least two parallel bases 311. The parallel bases are fixed to the base plate, and the parallel bases are provided with fixed cylinders 312. The fixed cylinders and the parallel bases are connected by several ribs 313. The docking ends of adjacent fixed cylinders are connected by a connecting cylinder 314. Each fixed cylinder and the connecting cylinder together form a mounting cylinder. The Z-axis linear module is evenly distributed on the inner wall of the mounting cylinder, so that the parallel bracket can be lengthened as needed, and the split type is easy to disassemble.

[0024] In this embodiment, in order to enable the processing worktable to move with two degrees of freedom in the X and Y directions, the serial module includes a serial support 210. A horizontal X-axis linear module 220 is arranged on the middle of the side of the serial support facing the parallel module. An X-axis sliding frame 221 is installed on the sliding block of the X-axis linear module. A vertical Y-axis linear module 230 is installed on the X-axis sliding frame. A vertical processing worktable 240 is installed on the sliding block of the Y-axis linear module. The X-axis linear module and the Y-axis linear module enable the processing worktable to move with two degrees of freedom in the X and Y directions.

[0025] In this embodiment, in order to realize the installation of the series module, the series bracket includes a series fixing frame 211 symmetrically arranged front and rear. The series fixing frame is fixed to the base plate, and a series fixing plate 212 is horizontally placed between the two series fixing frames facing the parallel module. The X-axis linear module is fixed to the series fixing plate.

[0026] In this embodiment, to achieve the installation of the Z-axis linear module, X-axis linear module, and Y-axis linear module, as well as the sliding of the sliding blocks on them, each of the Z-axis linear module, X-axis linear module, and Y-axis linear module is a lead screw sliding mechanism 500. The lead screw sliding mechanism includes a lead screw mounting bracket 510, on which a lead screw 520 is rotatably connected. A motor base 530 is provided at one end of the lead screw mounting bracket, and a motor 540 for driving the lead screw to rotate is installed inside the motor base. Specifically, the motor shaft is connected to one end of the lead screw via a coupling, driving the lead screw to rotate through the motor shaft. The lead screw is equipped with sliding blocks that move with the rotation of the lead screw. In use, the motor of the Z-axis linear module is located on the side away from the series module. The lead screw mounting bracket of the Z-axis linear module is fixed to the inner wall of the mounting cylinder. The lead screw mounting bracket of the X-axis linear module is fixed to the series fixing plate. The lead screw mounting bracket of the Y-axis linear module is fixed to the X-axis sliding bracket. Of course, the Z-axis linear module, X-axis linear module, and Y-axis linear module can also be other hydraulic or pneumatic power input linear modules. The fixed feature of this type of linear module eliminates the motion inertia introduced into the system by large mass components such as sliding bracket, motor, lead screw, and guide rail, and improves the dynamic response and high-speed cutting performance of this type of mechanism. In use, in the Z-axis linear module, when the motor is working, the lead screw drives the Z-axis sliding frame to move relative to the lead screw mounting frame. The Z-axis sliding frame drives the connecting rod swing arm, thereby driving the end effector to move. Under the combined drive of the motors on each branch, the position and attitude of the two moving platforms are uniquely determined, realizing the motion output of two rotations and one translation of the moving platforms. In use, when the motor of the X-axis linear module is working, the lead screw drives the X-axis sliding frame to move relative to the lead screw mounting frame. At this time, the X-axis sliding frame drives the lead screw mounting frame of the Y-axis linear module to slide. When the motor of the Y-axis linear module is working, the lead screw drives the sliding block on the Y-axis linear module to move relative to the lead screw mounting frame, thereby driving the machining table to move, realizing the two-degree-of-freedom movement of the machining table.

[0027] In this embodiment, to achieve the installation of the end effector, the two movable platforms are rotatably connected by bearing 3301. The middle of the two movable platforms is provided with interconnected actuator mounting holes 3302. On the movable platform closer to the serial module, an actuator fixing front seat 3303 is installed on the side facing the serial module corresponding to the actuator mounting hole. On the movable platform away from the serial module, an actuator fixing rear seat 3304 is rotatably connected on the side facing away from the serial module. The end effector is sleeved in the actuator mounting hole. The two ends of the end effector extend out of the actuator mounting hole and are respectively fixed in the actuator fixing front seat and the actuator fixing rear seat. More specifically, both movable platforms are plate-shaped and are arranged in a cross shape. The ends of the two movable platforms are hinged to the corresponding connecting rod arms through Hooke joints. The end effector can be an existing modular milling spindle, grinding spindle, drilling spindle, etc.

[0028] A working method for a horizontal hybrid machine tool with a parallel spindle head and over-constrained redundant drive: In the four branch mechanisms, two opposing branch mechanisms and the corresponding moving platform form two closed-loop motion branches, which constitute a closed motion chain. The sliding blocks on the four branch mechanisms are coupled along the active linear motion of the Z-axis to form a three-degree-of-freedom motion of the end effector rotating around the X-axis and Y-axis and moving along the Z-axis. At the same time, the sliding blocks on the X-axis linear module and Y-axis linear module of the serial module slide to form a two-degree-of-freedom motion of the machining table. The three-degree-of-freedom motion of the end effector rotating around the X-axis and Y-axis and moving along the Z-axis is combined with the two-degree-of-freedom motion of the machining table, so that the end effector has a five-degree-of-freedom motion capability relative to the workpiece on the machining table.

[0029] The structural parameters of this embodiment are as follows:

[0030] In the table, 'a' represents the diameter of the circumcircle of the square formed by the centers of the rotation axes of the first branch link swing arm, the second branch link swing arm, the third branch link swing arm, and the fourth branch link swing arm; 'b' represents the distance from the center of the third branch Hooke hinge to the center of the fourth branch link Hooke hinge; 'd1' represents the moving distance of the sliding block on the Z-axis linear module of the first branch; 'd2' represents the moving distance of the sliding block on the Z-axis linear module of the second branch; 'd3' represents the moving distance of the sliding block on the Z-axis linear module of the third branch; 'd4' represents the moving distance of the sliding block on the Z-axis linear module of the fourth branch; 'd5' represents the moving distance of the sliding block on the X-axis linear module; and 'd6' represents the moving distance of the sliding block on the Y-axis linear module.

[0031] like Figure 7 As shown, the embodiment of the present invention has a symmetrically distributed angular working space, and the movement in both rotational directions can reach -52° to 52°, enabling large-angle movement. Compared with existing mechanisms, the large-angle and uniformly distributed characteristics of this parallel spindle head can provide a new solution for the rapid machining of complex aluminum alloy aerospace structural parts.

[0032] Unless otherwise stated, if any of the technical solutions disclosed in this invention specify a numerical range, then the disclosed numerical range is a preferred numerical range. Anyone skilled in the art should understand that the preferred numerical range is merely one among many feasible numerical values ​​that has a more obvious or representative technical effect. Because there are many numerical values, it is impossible to list them all. Therefore, this invention discloses only some numerical values ​​to illustrate the technical solutions of this invention. Furthermore, the numerical values ​​listed above should not constitute a limitation on the scope of protection of this invention.

[0033] If the terms "first" or "second" are used in this document to specify the components, those skilled in the art should know that the use of "first" or "second" is merely for the purpose of distinguishing the components in the description. Unless otherwise stated, the above terms have no special meaning.

[0034] If this invention discloses or relates to mutually fixedly connected components or structural parts, then, unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws), or a non-detachable fixed connection (e.g., riveting, welding). Of course, mutually fixed connections can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0035] Furthermore, the orientations or positional relationships used in any of the technical solutions disclosed in this invention above to indicate positional relationships, such as "longitudinal," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this patent. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent. In addition, unless otherwise stated, the terms used to indicate shape in any of the technical solutions disclosed in this invention above include shapes that are similar to, close to, or approximate with it.

[0036] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured by a one-piece molding process.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A horizontal hybrid machine tool with an over-constrained redundant drive parallel spindle head, characterized in that: It includes a base plate, on which a series module and a parallel module are respectively arranged on the left and right sides. An end effector is installed on the side of the parallel module facing the series module.

2. The horizontal hybrid machine tool according to claim 1, characterized in that: The parallel module includes a parallel support, with four branch mechanisms evenly distributed around the inner circumference of the parallel support. A movable platform is horizontally placed between two opposing branch mechanisms facing one end of the serial module. The two movable platforms are arranged in a corresponding manner along the movement direction of the branch mechanisms, and are rotatably connected to form an actuator mounting platform. The end effector is mounted on the actuator mounting platform.

3. The horizontal hybrid machine tool according to claim 2, characterized in that: The branch mechanism includes a Z-axis linear module facing the serial module. A Z-axis sliding frame is mounted on the sliding block of the Z-axis linear module. A connecting rod swing arm is rotatably connected to the Z-axis sliding frame. The end of the connecting rod swing arm facing the serial module is hinged to the outer periphery of the corresponding movable platform via a Hooke joint.

4. The horizontal hybrid machine tool according to claim 3, characterized in that: The parallel bracket includes at least two parallel bases, which are fixed to the base plate. A fixed cylinder is provided on the parallel base. The fixed cylinder is connected to the parallel base by several ribs. The mating ends of adjacent fixed cylinders are connected by a connecting cylinder. Each fixed cylinder and the connecting cylinder together form an installation cylinder. The Z-axis linear module is evenly distributed on the inner wall of the installation cylinder.

5. The horizontal hybrid machine tool according to claim 3, characterized in that: The series module includes a series support. A horizontal X-axis linear module is arranged on the middle of the side of the series support facing the parallel module. An X-axis sliding frame is installed on the sliding block of the X-axis linear module. A vertical Y-axis linear module is installed on the X-axis sliding frame. A vertical processing worktable is installed on the sliding block of the Y-axis linear module.

6. The horizontal hybrid machine tool according to claim 5, characterized in that: The series support includes series fixing frames arranged symmetrically at the front and rear. The series fixing frames are fixed to the base plate. A series fixing plate is placed horizontally between the two series fixing frames facing the parallel module. The X-axis linear module is fixed to the series fixing plate.

7. The horizontal hybrid machine tool according to claim 5, characterized in that: The Z-axis linear module, X-axis linear module, and Y-axis linear module are all lead screw sliding mechanisms. The lead screw sliding mechanism includes a lead screw mounting bracket, on which a lead screw is rotatably connected. A motor base is provided at one end of the lead screw mounting bracket, and a motor for driving the lead screw to rotate is installed inside the motor base. A sliding block is configured on the lead screw that slides as the lead screw rotates.

8. The horizontal hybrid machine tool according to claim 2, characterized in that: The two movable platforms are rotatably connected by bearings. The two movable platforms have interconnected actuator mounting holes in the middle. The movable platform closer to the serial module has an actuator fixing front seat installed on the side facing the serial module, corresponding to the actuator mounting hole. The movable platform away from the serial module has an actuator fixing rear seat rotatably connected on the side facing away from the serial module. The end effector is sleeved in the actuator mounting hole. The two ends of the end effector extend out of the actuator mounting hole and are respectively fixed in the actuator fixing front seat and actuator fixing rear seat.

9. The horizontal hybrid machine tool according to claim 8, characterized in that: Both movable platforms are plate-shaped and arranged in a cross shape. The ends of the two movable platforms are hinged to the corresponding connecting rod arms via Hooke's joints.

10. A method for operating a horizontal hybrid machine tool with an over-constrained redundant drive parallel spindle head, employing the horizontal hybrid machine tool as described in claim 5, characterized in that: Of the four branch mechanisms, the two opposing branch mechanisms and their corresponding moving platforms form two closed-loop motion branches. These two closed-loop motion chains constitute a closed motion chain. The sliding blocks on the four branch mechanisms are coupled along the active linear motion of the Z-axis, forming a three-degree-of-freedom motion of the end effector, which rotates around the X and Y axes and moves along the Z-axis. At the same time, the sliding blocks on the X-axis linear module and the Y-axis linear module of the serial module slide, forming a two-degree-of-freedom motion of the machining table. The three-degree-of-freedom motion of the end effector, which rotates around the X and Y axes and moves along the Z-axis, combined with the two-degree-of-freedom motion of the machining table, gives the end effector a five-degree-of-freedom motion capability relative to the workpiece on the machining table.

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