Parallel double-spindle gang tool mechanical hand numerical control machine tool

Abstract

The application discloses a kind of parallel double main shafts of tool arrangement mechanical hand numerical control machine tool, specifically related to numerical control tool arrangement lathe technical field, including bed, main shaft system, feed system, tool rest system, cooling chip removal system, outer protection and numerical control system.The main main shaft and vice main shaft of left and right parallel are processed in parallel, cooperate the tool seat on single tool plate to realize double tool cutting simultaneously, reduce process waiting and processing breakpoint, complete workpiece automatic transfer with main vice main shaft indirect material and feeding and discharging with full-automatic feeding and discharging mechanical hand, can realize continuous production, improve equipment comprehensive utilization, and the production capacity of single equipment can replace two traditional single main shafts of tool arrangement lathe, improve unit area production capacity.Meanwhile, high rigidity bed is used as bearing basis, and double independent base assemblies are used to bear Z-axis assembly and vice Z-axis assembly respectively, two sets of feed systems are not rigidly coupled, and the feed movement of main saddle, vice saddle and X-axis assembly is used to ensure the stability of equipment geometric precision.

Description

Technical Field

[0001] This invention relates to the field of CNC gantry lathe technology, and particularly to a parallel dual-spindle gantry lathe manipulator CNC machine tool. Background Technology

[0002] As modern manufacturing rapidly develops towards high precision, high efficiency, and unmanned operation, the demand for processing small precision parts continues to grow, placing higher demands on the integration, automation level, and processing accuracy of CNC machining equipment.

[0003] Currently, the industry generally adopts a combination of traditional single-spindle CNC lathes, ordinary gang tool lathes with manual loading and unloading, or single-spindle gang tool CNC lathes with simple robotic arms and simple receiving counterspindles for production.

[0004] However, the above-mentioned existing technical solutions still have the following defects in practical applications: First, the single spindle layout and simple secondary spindle structure cannot realize the full-process processing of the workpiece. The workpiece needs to be clamped multiple times, which not only leads to large secondary clamping errors and difficulty in ensuring form and position tolerances and poor product consistency, but also prolongs the processing cycle and reduces production efficiency. Secondly, most existing equipment uses a single-channel control system, which cannot achieve dual-spindle collaborative processing, resulting in a large amount of waiting time during the processing and low overall equipment utilization. Third, manual loading and unloading or simple single-degree-of-freedom robotic arms can only perform simple picking and placing actions, and cannot achieve linkage control with the main spindle, sub-spindle, and tool distribution system. The processing process still requires manual intervention, resulting in low automation, high labor costs, and significant safety risks. Fourth, the equipment has poor integration; multiple single machines combined for production occupy a large area, resulting in low space utilization. This also increases factory construction and management costs, making it difficult to meet the demands of large-scale, unmanned production in modern manufacturing. Therefore, a parallel dual-spindle manipulator CNC machine tool is proposed. Summary of the Invention

[0005] The main objective of this invention is to provide a parallel dual-spindle manipulator CNC machine tool to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A parallel dual-spindle manipulator CNC machine tool includes a bed, a spindle system, a feed system, a tool post system, a cooling and chip removal system, an external protection system, and a CNC system. The spindle system includes a main spindle and a secondary spindle arranged side by side. The main spindle and the secondary spindle are respectively mounted on the bed through independent spindle bases. Their axes are parallel and can move independently axially, and they have the characteristics of equal power and equal precision. The feed system includes two independent X-axis assemblies, a main saddle, and a secondary saddle, as well as two independent Z-axis assemblies, a secondary Z-axis assemblies, and a base assembly; the two X-axis assemblies correspond to the main spindle and the secondary spindle, respectively, and there is no rigid coupling between the two Z-axis assemblies. The tool holder system includes a single row of tool plates and fixed tool holders and movable tool holders mounted thereon, which can realize simultaneous cutting of two tools in X / Z dual-axis linkage; It also includes a fully automatic loading and unloading robot, which is linked and interlocked with the CNC system to complete the loading and unloading of workpieces and the material transfer between the main and auxiliary spindles; the outer protection is a fully enclosed dual-area independent protection structure, with partitions between the two processing areas. The cooling and chip removal system integrates a spiral chip conveyor and a cooling water tank; The CNC system is a dual-channel linkage control system that synchronously controls the actions of each component.

[0007] Preferably, the bed is a opposed horizontal high-rigidity bed, and the main spindle and the auxiliary spindle are arranged symmetrically; both the main spindle and the auxiliary spindle are integrated direct-drive electric spindles, and the spindle box is equipped with reinforcing ribs; the front end of the main spindle is equipped with a spindle clamping assembly, the front end of the auxiliary spindle is equipped with an auxiliary spindle clamping assembly, the main spindle clamping assembly is a pneumatic spring chuck mechanism, and the auxiliary spindle clamping assembly is a diaphragm chuck mechanism.

[0008] Preferably, both the main saddle and the auxiliary saddle are box-shaped enclosed structures with densely packed reinforcing ribs inside, and are respectively mounted on the X-axis guide rail and fed laterally with the servo screw; the X-axis assembly adopts a high-rigidity ball guide rail and a roller screw, with the screw centrally arranged between the guide rail mating surfaces.

[0009] Preferably, the Z-axis assembly and the secondary Z-axis assembly respectively support the main spindle base and the secondary spindle base through independent base assemblies, realizing independent forward and backward movement; the Z-axis adopts high-rigidity ball guide rails and ball screws, and is equipped with an independent feed servo motor.

[0010] Preferably, the blade plate has a single-row structure with multiple fixed tool holders and movable tool holders arranged on it, which can simultaneously install multiple tools to achieve synchronous cutting corresponding to the main spindle and the sub-spindle.

[0011] Preferably, the outer protection adopts a fully enclosed frame structure of steel plate assembly and square tube welding, and the surface is treated with rust prevention; the front door is equipped with a large-view manual safety door, and the top is reserved with space for the movement of a robotic arm and equipped with an automated skylight door.

[0012] Preferably, the cooling and chip removal system includes a single spiral chip conveyor installed at the bottom of the machine bed, a cooling water tank, and two cooling circulation pumps. The spiral chip conveyor is connected to the cooling water tank to realize automatic chip removal and cutting fluid recycling.

[0013] Preferably, the CNC system is a serial bus type lathe controller that supports 6-axis control and dual-channel independent operation, and can realize independent speed, torque, and positioning control of the main and auxiliary spindles, as well as synchronous rotation, indexing, and docking control.

[0014] Preferably, it also includes pneumatic components, including a triplet, a solenoid valve, a pressure reducing valve, a pressure sensor, and a check valve, for controlling the pneumatic movements of the main spindle clamping assembly, the secondary spindle clamping assembly, and the robot arm.

[0015] Preferably, the Z-axis guide rail is provided with a pre-tightening adaptive compensation structure; the secondary shaft clamping assembly is equipped with a pressure closed-loop control system; a pressure sensor is installed at the gripper of the robot to realize adaptive gripping force; the CNC system integrates a safety interlock redundant control module to realize robot movement is prohibited when the spindle is not clamped, chip removal is blocked and speed is reduced, and coolant is low alarm.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. By using the parallel processing of the main spindle and the auxiliary spindle, and the tool holder on the single-row tool plate to achieve simultaneous cutting with two tools, the waiting time and processing interruptions are reduced. With the help of a fully automatic loading and unloading robot, the automatic transfer of workpieces, material transfer between the main spindle and the auxiliary spindle, and loading and unloading can be completed, enabling continuous production and improving the overall utilization rate of the equipment. The capacity of a single machine can replace two traditional single-spindle tool lathes, increasing the capacity per unit area. Meanwhile, the high-rigidity bed serves as the load-bearing foundation, and the dual independent base assemblies support the Z-axis assembly and the secondary Z-axis assembly respectively. The two feed systems are not rigidly coupled, and the feed motion of the main saddle, secondary saddle, and X-axis assembly ensures the geometric accuracy and stability of the equipment. The workpiece transmits force between the main and secondary spindles through the main spindle clamping assembly and the secondary spindle clamping assembly, eliminating the need for secondary clamping, eliminating secondary clamping errors, and improving the coaxiality, roundness, and other geometric tolerances. Combined with the repetitive positioning of the robot arm, it reduces human operation errors, improves the consistency of product processing, and the equipment integrates multiple processing steps. It can complete multiple processing steps of small precision shaft, disc, and sleeve workpieces on one machine, reducing workpiece turnover and shortening the production cycle. 2. The CNC system synchronously controls the linkage actions of each core component through the distribution panel, realizing an automated production process of loading, processing, receiving, and unloading. The fully enclosed external protection achieves independent isolation between the two processing areas, preventing metal chips from splashing and interfering with the coolant. The integrated spiral chip conveyor in the cooling water tank automatically discharges metal chips and recycles cutting fluid, reducing the frequency of manual maintenance. Pneumatic components provide power to the clamping mechanism and robotic arm, and the system's linkage and interlocking mechanism reduces the probability of collisions, jamming, and other malfunctions. Furthermore, a single unit can replace two traditional single machines, reducing the production floor space and saving factory space. Automated production also reduces the need for manual supervision, lowering labor and management costs. The integrated design of the entire machine consumes less energy than two independent single machines, further saving production and operating costs. Attached Figure Description

[0017] Figure 1 This is an overall exploded perspective view of the present invention; Figure 2 This is a front-view perspective view of the present invention; Figure 3 This is a front-view perspective view of the external protective structure of the present invention; Figure 4 This is an exploded perspective view of the secondary shaft clamping assembly of the present invention. Figure 5 This is a front-view exploded perspective view of the robotic arm of the present invention.

[0018] In the diagram: 1. Bed; 2. Spindle; 5. Main saddle; 8. Outer protection; 10. Cooling water tank; 11. Lubrication; 13. Secondary saddle; 14. X-axis assembly; 15. Z-axis assembly; 17. Secondary Z-axis assembly; 18. Secondary spindle; 19. Base assembly; 23. Secondary spindle clamping assembly; 25. Spindle clamping assembly; 27. Robot arm. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] Example 1: Please refer to Figure 1 - Figure 5 The present invention provides a technical solution: a parallel dual-spindle manipulator CNC machine tool, including a bed 1, a spindle system, a feed system, a tool post system, a cooling and chip removal system, an outer guard 8, and a CNC system. The spindle system includes a main spindle 2 and a secondary spindle 18 arranged side by side. The main spindle 2 and the secondary spindle 18 are respectively mounted on the bed 1 through independent spindle bases. Their axes are parallel and can move independently axially, and they have the characteristics of equal power and equal precision. The feed system includes two independent X-axis assemblies 14, a main saddle 5, and a secondary saddle 13, as well as two independent Z-axis assemblies 15, a secondary Z-axis assemblies 17, and a base assembly 19; the two X-axis assemblies 14 correspond to the main spindle 2 and the secondary spindle 18, respectively, and there is no rigid coupling between the two Z-axis assemblies. The tool holder system includes a single row of tool plates and fixed tool holders and movable tool holders mounted on them, which can realize simultaneous cutting of two tools in X / Z dual-axis linkage; It also includes a fully automatic loading and unloading robot 27, which is linked and interlocked with the CNC system to complete the loading and unloading of workpieces and the material transfer between the main and auxiliary spindles; the outer protection 8 is a fully enclosed dual-area independent protection structure, with partitions between the two processing areas. The cooling chip removal system integrates a spiral chip conveyor and a cooling water tank 10; The CNC system is a dual-channel linkage control system that synchronously controls the actions of each component.

[0021] The bed 1 is a horizontal, high-rigidity bed with opposing spindles. The main spindle 2 and the auxiliary spindle 18 are arranged symmetrically. Both the main spindle 2 and the auxiliary spindle 18 are integrated direct-drive electric spindles with reinforcing ribs inside the spindle box. The front end of the main spindle 2 is equipped with a spindle clamping assembly 25, and the front end of the auxiliary spindle 18 is equipped with an auxiliary spindle clamping assembly 23. The main spindle clamping assembly 25 is a pneumatic spring chuck mechanism, and the auxiliary spindle clamping assembly 23 is a diaphragm chuck mechanism. The bed 1 is made of high-strength cast iron and is cast in one piece.

[0022] Both the main saddle 5 and the auxiliary saddle 13 are box-type enclosed structures with densely packed reinforcing ribs inside. They are respectively mounted on the X-axis guide rail and fed laterally with the servo screw. The X-axis assembly 14 adopts a high-rigidity ball guide rail and a roller screw. The screw is centrally located between the guide rail mating surfaces. The guide rail adopts a wide gauge and large contact surface design. The centrally located screw reduces pitch and torsion, ensuring feed accuracy.

[0023] Lead screw: THK roller lead screw φ25×06, lead 6mm, HSR series, high rigidity 4 rows, four-sided equal load, high assembly height, guide rail width 20mm, slider mounting hole distance 36mm, 4 mounting holes; Lead screw: THK roller lead screw φ25×, lead screw shaft diameter φ25mm, lead Ph=6mm, is the golden specification for X-axis feed of dual spindle turning centers, taking into account rigidity, precision, speed and life; X-axis feed motor adopts S08-AM3-60-F4SYNTEC feed servo motor.

[0024] Z-axis assembly 15 and secondary Z-axis assembly 17 are supported by independent base assemblies 19, respectively, to support the main spindle base and secondary spindle base, enabling independent forward and backward movement. The Z-axis adopts high-rigidity ball guides and ball screws, and is equipped with an independent feed servo motor. It uses a high-rigidity bed 1 as the support base, and adopts dual independent base assemblies 19 to support Z-axis assembly 15 and secondary Z-axis assembly 17 respectively. The two feed systems are not rigidly coupled. With the feed motion of the main saddle 5, secondary saddle 13 and X-axis assembly 14, the stability of the equipment's geometric accuracy is ensured.

[0025] The cutter head has a single-row structure with multiple fixed and movable tool holders arranged on it, allowing multiple tools to be installed simultaneously. These tools correspond to the main spindle 2 and the sub-spindle 18 for synchronous cutting. The main spindle 2 and the sub-spindle 18 operate in parallel, and the tool holders on the single-row cutter head enable simultaneous cutting by both tools, reducing process waiting time and machining interruptions. When paired with a fully automatic loading and unloading robot 27, it completes automatic workpiece transfer, material transfer between the main and sub-spindles, and loading and unloading, enabling continuous production and improving the overall utilization rate of the equipment. The capacity of a single machine can replace two traditional single-spindle tool lathes, increasing the capacity per unit area.

[0026] The outer protection 8 adopts a fully enclosed frame structure assembled from steel plates and welded with square tubes, and the surface is treated with rust prevention. The fully enclosed outer protection 8 achieves independent isolation between the two processing areas, preventing iron filings from splashing and interfering with the coolant.

[0027] The front door features a wide-view manual safety door, while the top is equipped with a 27-inch space for the robotic arm to move and an automated sunroof.

[0028] The cooling and chip removal system includes a single spiral chip conveyor installed at the bottom of the bed 1, a cooling water tank 10, and two cooling circulation pumps. The spiral chip conveyor is connected to the cooling water tank 10 to realize automatic chip removal and cutting fluid recycling, reducing the frequency of manual maintenance.

[0029] The CNC system is a serial bus type lathe controller, which supports 6-axis control and dual-channel independent operation. It can realize independent speed, torque, and positioning control of the main and auxiliary spindles, as well as synchronous rotation, indexing, and docking control.

[0030] It also includes pneumatic components, including a triplet, solenoid valve, pressure reducing valve, pressure sensor, and check valve, used to control the pneumatic movements of the main spindle clamping assembly 25, the secondary spindle clamping assembly 23, and the robot arm 27. The workpiece is subjected to force transmission between the main and secondary spindles through the main spindle clamping assembly 25 and the secondary spindle clamping assembly 23, eliminating the need for secondary clamping, eliminating secondary clamping errors, and improving dimensional and positional tolerances such as coaxiality and roundness. At the same time, the repeatable positioning of the robot arm 27 reduces human operation errors and improves product processing consistency. The pneumatic components provide power to the clamping mechanism and the robot arm 27, and together with the system's linkage and interlocking mechanism, reduce the probability of collisions, jamming, and other failures.

[0031] The Z-axis guide rail is equipped with a pre-tightening adaptive compensation structure; the secondary spindle clamping assembly 23 is equipped with a pressure closed-loop control system; a pressure sensor is installed at the gripper of the robot arm 27 to achieve adaptive gripping force; the CNC system integrates a safety interlock redundant control module to realize the robot arm movement is prohibited when the spindle is not clamped, the chip removal is blocked and the speed is reduced, and the coolant is low alarm. The CNC system synchronously controls the linkage action of the spindle, feed system, tool holder and robot arm 27 through the power distribution panel to realize the automated production process of loading, processing, receiving and unloading.

[0032] Example 2: Based on Example 1, this example further improves the equipment's precision maintenance, operational assurance, and safety protection system: the spindle box and spindle base are subjected to stress relief treatment by manual or vibration aging; the spindle has a built-in water-cooling channel and a high-precision encoder, which, together with the oil cooler 22, achieves precise temperature control and position feedback of the spindle; a lubrication system 11 is added to provide continuous lubrication for each guide rail and lead screw moving pair; a pre-tightening adaptive compensation structure is added to the Z-axis guide rail; the secondary spindle clamping assembly 23 is equipped with a pressure closed-loop control system; the gripper of the robot arm 27 integrates a pressure sensor to achieve adaptive adjustment of the gripping force; the power distribution panel, as the electrical control center, integrates a safety interlock redundant control module to achieve multiple safety interlocks, such as prohibiting the robot arm 27 from moving when the spindle is not clamped, reducing the speed of the whole machine when the chip removal is blocked, and automatically alarming when the coolant level is low, thus comprehensively improving the long-term stability of the equipment and the reliability of unmanned processing.

[0033] The working principle of this invention is as follows: The CNC system issues control commands through the distribution panel. First, the robot arm 27 grabs the workpiece to be processed and sends it to the front end of the main spindle 2. The pneumatic components drive the spindle clamping assembly 25 to clamp the workpiece. Then, the Z-axis assembly 15 drives the main spindle 2 to feed axially, and the main saddle 5 cooperates with the X-axis assembly 14 to achieve transverse feed, so that the tool in the tool holder mounted on the tool plate completes the first machining operation on the workpiece. After the machining is completed, the auxiliary Z-axis assembly 17 drives the auxiliary spindle 18 to move axially to the docking position. The auxiliary spindle clamping assembly 23 clamps the workpiece, and the main spindle clamping assembly 25 releases simultaneously, completing the relay transfer of the workpiece between the main and auxiliary spindles. Then, the auxiliary spindle 18 drives the workpiece back to the machining position, and the auxiliary saddle 13 cooperates with the X-axis assembly 14 to drive the tool to complete the remaining machining operations. During the machining process, the cooling water tank 10 provides cutting fluid for cooling and lubrication, and the spiral chip conveyor at the bottom of the bed 01 automatically discharges iron chips. The fully enclosed outer protection 8 isolates the dual machining areas to prevent iron chips and coolant from interfering with each other and splashing. After all processes are completed, the robot arm 27 grabs the finished workpiece and unloads it, and simultaneously completes the loading of the next workpiece, realizing continuous unmanned machining. The entire process is controlled synchronously by a dual-channel CNC system. The base assembly 19 ensures the independence and stability of the main and auxiliary spindle feeds, and the pneumatic components provide power support for the clamping mechanism and the robot arm.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A parallel dual-spindle manipulator CNC machine tool, comprising a bed (1), a spindle system, a feed system, a tool post system, a cooling and chip removal system, an external guard (8), and a CNC system, characterized in that: The spindle system includes a main spindle (2) and a secondary spindle (18) arranged side by side. The main spindle (2) and the secondary spindle (18) are respectively mounted on the bed (1) through independent spindle bases. Their axes are parallel and can move independently axially, and they have the characteristics of equal power and equal precision. The feeding system includes two independent X-axis assemblies (14), a main saddle (5), a secondary saddle (13), and two independent Z-axis assemblies (15), a secondary Z-axis assembly (17), and a base assembly (19); the two X-axis assemblies (14) correspond to the main spindle (2) and the secondary spindle (18) respectively, and there is no rigid coupling between the two Z-axis assemblies; The tool holder system includes a single row of tool plates and fixed tool holders and movable tool holders mounted thereon, which can realize simultaneous cutting of two tools in X / Z dual-axis linkage; It also includes a fully automatic loading and unloading robot (27), which is linked and interlocked with the CNC system to complete the loading and unloading of workpieces and the material transfer between the main and auxiliary spindles; the outer protection (8) is a fully enclosed dual-area independent protection structure, with a partition baffle between the two processing areas; The cooling chip removal system integrates a spiral chip conveyor and a cooling water tank (10). The CNC system is a dual-channel linkage control system that synchronously controls the actions of each component.

2. The CNC machine tool with parallel dual-spindle tool bar as described in claim 1, characterized in that: The bed (1) is a horizontal high-rigidity bed with opposing spindles. The main spindle (2) and the auxiliary spindle (18) are arranged in a completely symmetrical manner. The main spindle (2) and the auxiliary spindle (18) are both integrated direct-drive electric spindles. The spindle box is equipped with reinforcing ribs. The front end of the main spindle (2) is equipped with a spindle clamping assembly (25), and the front end of the auxiliary spindle (18) is equipped with an auxiliary spindle clamping assembly (23). The main spindle clamping assembly (25) is a pneumatic spring chuck mechanism, and the auxiliary spindle clamping assembly (23) is a diaphragm chuck mechanism.

3. The CNC machine tool with parallel dual-spindle tool bar as described in claim 1, characterized in that: The main saddle (5) and the auxiliary saddle (13) are both box-shaped closed structures with dense reinforcing ribs inside. They are respectively installed on the X-axis guide rail and fed laterally with the servo screw. The X-axis assembly (14) adopts a high-rigidity ball guide rail and a roller screw, with the screw arranged in the center between the guide rail mating surfaces.

4. A parallel dual-spindle manipulator CNC machine tool according to claim 1, characterized in that: The Z-axis assembly (15) and the secondary Z-axis assembly (17) are supported by the main spindle base and the secondary spindle base respectively through independent base assemblies (19), so as to achieve independent forward and backward movement; the Z-axis adopts high-rigidity ball guide rails and ball screws, and is equipped with an independent feed servo motor.

5. A parallel dual-spindle manipulator CNC machine tool according to claim 1, characterized in that: The blade plate has a single-row structure with multiple fixed and movable tool holders arranged on it. Multiple tools can be installed at the same time to achieve synchronous cutting, corresponding to the main spindle (2) and the sub-spindle (18) respectively.

6. A parallel dual-spindle manipulator CNC machine tool according to claim 1, characterized in that: The outer protection (8) adopts a fully enclosed frame structure of steel plate assembly and square tube welding, and the surface is treated with anti-rust; the front door is equipped with a large field of vision manual safety door, and the top is reserved with space for the movement of the robot arm (27) and equipped with an automated skylight door.

7. A parallel dual-spindle manipulator CNC machine tool according to claim 1, characterized in that: The cooling and chip removal system includes a single spiral chip conveyor installed at the bottom of the bed (1), a cooling water tank (10), and two cooling circulation pumps. The spiral chip conveyor is connected to the cooling water tank (10) to realize automatic chip discharge and cutting fluid recycling.

8. A parallel dual-spindle manipulator CNC machine tool according to claim 1, characterized in that: The CNC system is a serial bus type lathe controller that supports 6-axis control and dual-channel independent operation. It can realize independent speed, torque, and positioning control of the main and auxiliary spindles, as well as synchronous rotation, indexing, and docking control.

9. A parallel dual-spindle manipulator CNC machine tool according to claim 2, characterized in that: It also includes pneumatic components, including a triplet, solenoid valve, pressure reducing valve, pressure sensor and check valve, for controlling the pneumatic movements of the main spindle clamping assembly (25), the secondary spindle clamping assembly (23) and the manipulator (27).

10. A parallel dual-spindle manipulator CNC machine tool according to claim 2, characterized in that: The Z-axis guide rail is provided with a pre-tightening adaptive compensation structure; the secondary shaft clamping assembly (23) is equipped with a pressure closed-loop control system; the gripper of the robot (27) is equipped with a pressure sensor to realize adaptive gripping force; the CNC system integrates a safety interlock redundant control module to realize the robot's action is prohibited when the main spindle is not clamped, the speed is reduced due to chip blockage, and the coolant is low level alarm.

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