Five-axis linkage motion platform for automatic machining of parts in complex shapes

Abstract

The utility model relates to the technical field of machining of parts with complex shapes, in particular to a five-axis linkage motion platform for automatic machining of parts with complex shapes, which comprises an X-axis linear driving assembly, a Y-axis linear driving assembly, a Z-axis linear driving assembly, an A-axis rotating assembly, a C-axis rotating assembly and a mounting jig, a part is driven by the X-axis linear driving assembly, the Y-axis linear driving assembly and the Z-axis linear driving assembly to move in a reciprocating mode in the X-axis direction, the Y-axis direction and the Z-axis direction, the part rotates in the X-axis direction and the Z-axis direction through the A-axis rotating assembly and the C-axis rotating assembly, and the part has the moving freedom degrees in the five directions, so that the machining range of the part on a machine tool is wider, and the machining efficiency is improved. Machining of machine tool replacement is reduced, machining of complex parts with curved surfaces, inclined surfaces and concave surfaces is adapted, the production efficiency of the parts is improved, the positioning error during part transferring is reduced, and the machining precision is high.

Description

Technical Field

[0001] This application relates to the technical field of machining complex-shaped parts, and more specifically, it relates to a five-axis linkage motion platform for the automatic machining of complex-shaped parts. Background Technology

[0002] In modern manufacturing, the machining of complex-shaped parts typically requires high precision and high efficiency. Traditional CNC machining equipment, usually three-axis or four-axis CNC machine tools, often struggles to meet the needs of machining complex parts, especially when the parts have complex curved surfaces or variable angles, where the machining accuracy and production efficiency of traditional equipment are often limited. Utility Model Content

[0003] To address the aforementioned technical problems, this application provides a five-axis linkage motion platform for the automatic processing of complex-shaped parts, which enables the parts to have higher degrees of freedom of movement, high efficiency and precision, and facilitates the precision cutting operation of complex three-dimensional parts.

[0004] A five-axis linkage motion platform for automatic machining of complex-shaped parts includes an X-axis linear drive assembly, a Y-axis linear drive assembly, a Z-axis linear drive assembly, an A-axis rotary assembly, a C-axis rotary assembly, and a mounting fixture. The direction perpendicular to the horizontal ground is considered parallel to the Z-axis. The X-axis linear drive assembly is connected to the Y-axis linear drive assembly to drive the Y-axis linear drive assembly to reciprocate along the Y-axis. The Y-axis linear drive assembly is connected to the Z-axis linear drive assembly to drive the Z-axis linear drive assembly to reciprocate along the Y-axis. The Z-axis linear drive assembly is connected to the A-axis rotary assembly to drive the A-axis rotary assembly to reciprocate along the Z-axis. The extension line of the rotation center of the A-axis rotary assembly is parallel to the X-axis, and the A-axis rotary assembly is connected to the C-axis rotary assembly to drive the C-axis rotary assembly to rotate. The extension line of the rotation center of the C-axis rotary assembly is parallel to the Z-axis, and the C-axis rotary assembly is connected to the mounting fixture to drive the mounting fixture to rotate. The mounting fixture is used to fix the part.

[0005] Preferably, the X-axis linear drive assembly includes a first mounting platform, a first lead screw, a first threaded sleeve, a first rotary drive component, and a first movable seat. The first threaded sleeve is sleeved on the outer wall of the first lead screw and threadedly connected to the first lead screw. The first lead screw is rotatably connected to the first mounting platform, and the length direction of the first lead screw is parallel to the X-axis. A first slide rail parallel to the first lead screw is provided on the first mounting platform, and a first slider is slidably provided on the first slide rail. The first slider and the first threaded sleeve are both connected and fixed to the first movable seat. The Y-axis linear drive assembly is connected and fixed to the first movable seat. The first rotary drive component is connected and fixed to the first mounting platform and connected to the first lead screw to drive the first lead screw to rotate in both directions.

[0006] Preferably, the Y-axis linear drive assembly includes a second mounting platform, a second lead screw, a second threaded sleeve, a second rotary drive component, and a second movable seat. The second threaded sleeve is sleeved on the outer wall of the second lead screw and threadedly connected to the second lead screw. The second lead screw is rotatably connected to the second mounting platform, and the length direction of the second lead screw is parallel to the Y-axis. A second slide rail parallel to the second lead screw is provided on the second mounting platform, and a second slider is slidably provided on the second slide rail. The second slider and the second threaded sleeve are both connected and fixed to the second movable seat. The Z-axis linear drive assembly is connected and fixed to the second movable seat. The second rotary drive component is connected and fixed to the second mounting platform and connected to the second lead screw to drive the second lead screw to rotate in both directions.

[0007] Preferably, the Z-axis linear drive assembly includes a third mounting platform, a third lead screw, a third threaded sleeve, a third rotary drive component, and a third movable seat. The third threaded sleeve is fitted onto the outer wall of the third lead screw and threadedly connected to the third lead screw. The third lead screw is rotatably connected to the third mounting platform, and the length direction of the third lead screw is parallel to the Z-axis. A third slide rail parallel to the length direction of the third lead screw is provided on the third mounting platform. A third slider is slidably disposed on the third slide rail. The third slider and the third threaded sleeve are both connected and fixed to the third movable seat. The A-axis rotary drive assembly is connected and fixed to the third movable seat. The third rotary drive component is connected and fixed to the third mounting platform and connected to the third lead screw to drive the third lead screw to rotate in both directions.

[0008] Preferably, the first rotary drive, the second rotary drive, and the third rotary drive are all high-speed servo motors, and each of the first rotary drive, the second rotary drive, and the third rotary drive is equipped with a first encoder for measuring its drive stroke.

[0009] Preferably, the A-axis rotation assembly includes an A-axis rotary table, a fourth rotation drive component, and an extension arm. The A-axis rotary table is rotatably connected to the Z-axis linear drive assembly, and the rotation axis of the A-axis rotary table is parallel to the X-axis direction. The extension arm is disposed on one end face of the A-axis rotary table and extends in the X-axis direction. The C-axis rotation assembly is fixedly connected to the extension arm. The fourth rotation drive component is connected to the A-axis rotary table to drive the A-axis rotary table to rotate in both directions.

[0010] Preferably, the C-axis rotation assembly includes a C-axis rotary table and a fifth rotation drive component. The C-axis rotary table is rotatably connected to the A-axis rotation assembly, and the rotation axis of the C-axis rotary table is parallel to the Z-axis direction. The fifth rotation drive component is connected to the C-axis rotary table to drive the C-axis rotary table to rotate in both directions. The mounting fixture is fixed to the top surface of the C-axis rotary table.

[0011] Preferably, both the fourth and fifth rotary drive components are DD motors, and both the fourth and fifth rotary drive components are equipped with a second encoder for measuring their drive stroke.

[0012] The beneficial technical effects of this application are as follows:

[0013] 1. The X-axis linear drive assembly, Y-axis linear drive assembly, and Z-axis linear drive assembly drive the part to reciprocate along the X, Y, and Z linear axes. The A-axis rotation assembly and C-axis rotation assembly enable the part to rotate in the X and Z axes. The part has five degrees of freedom of movement, which makes its processing range on a single machine tool wider, reduces the need to change machine tools, and is suitable for processing complex parts with curved, inclined, and concave surfaces. This improves the production efficiency of parts, reduces positioning errors during part transfer, and achieves high processing accuracy.

[0014] 2. The X-axis linear drive assembly, Y-axis linear drive assembly, and Z-axis linear drive assembly are all driven by servo motors controlling the rotation of the lead screw, which enables high precision movement of the parts in the X, Y, and Z axes and achieves stroke locking for easy positioning and machining. The A-axis rotary assembly and C-axis rotary assembly are driven by DD motors to achieve part rotation. The DD motor works on the principle of synchronous motors and achieves precise speed and position control by controlling the frequency of current and voltage, which enables high speed and high positioning accuracy of part rotation and further improves part production efficiency.

[0015] 3. The encoders set in the first, second, and third rotary drive components sense the movement of the part in the X, Y, and Z axes, and the second encoder detects the rotation of the part in the A and C axes. This enables precise control of the part's movement and positioning of its swing direction through an external control system, resulting in high machining accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a five-axis linkage motion platform for automatic processing of complex-shaped parts according to this embodiment.

[0017] Figure 2 This is a schematic diagram of the X-axis linear drive assembly in this embodiment.

[0018] Figure 3 This is a schematic diagram of the Y-axis linear drive component in this embodiment.

[0019] Figure 4 This is a schematic diagram of the Z-axis linear drive assembly in this embodiment.

[0020] Figure 5 This is a schematic diagram of the connection structure of the A-axis rotary assembly, the C-axis rotary assembly, and the mounting fixture.

[0021] Reference numerals: 1. X-axis linear drive assembly; 11. First mounting platform; 111. First slide rail; 112. First slider; 12. First lead screw; 13. First threaded sleeve; 14. First rotary drive component; 15. First movable seat; 2. Y-axis linear drive assembly; 21. Second mounting platform; 211. Second slide rail; 212. Second slider; 22. Second lead screw; 23. Second threaded sleeve; 24. Second rotary drive component; 25. Second movable seat; 3. Z-axis linear drive assembly; 31. Third mounting platform; 311. Third slide rail; 312. Third slider; 32. Third lead screw; 33. Third threaded sleeve; 34. Third rotary drive component; 35. Third movable seat; 4. A-axis rotary assembly; 41. A-axis rotary table; 42. Fourth rotary drive component; 43. Extension arm; 5. C-axis rotary assembly; 51. C-axis rotary table; 52. Fifth rotary drive component; 6. Mounting fixture. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Reference Figure 1A five-axis linkage motion platform for automatic machining of complex-shaped parts includes an X-axis linear drive assembly 1, a Y-axis linear drive assembly 2, a Z-axis linear drive assembly 3, an A-axis rotary assembly 4, a C-axis rotary assembly 5, and a mounting fixture 6. The direction perpendicular to the horizontal ground is considered parallel to the Z-axis. The X-axis linear drive assembly 1 is connected to the Y-axis linear drive assembly 2 to drive the Y-axis linear drive assembly 2 to reciprocate along the Y-axis. The Y-axis linear drive assembly 2 is connected to the Z-axis linear drive assembly 3 to drive the Z-axis linear drive assembly 3 to reciprocate along the Y-axis. The Z-axis linear drive assembly 3 is connected to the A-axis rotary assembly 4 to drive the A-axis rotary assembly 4 to reciprocate along the Z-axis. The extension line of the rotation center of the A-axis rotary assembly 4 is parallel to the X-axis, and the A-axis rotary assembly 4 is connected to the C-axis rotary assembly 5 to drive the C-axis rotary assembly to rotate. The extension line of the rotation center of the C-axis rotary assembly 5 is parallel to the Z-axis, and the C-axis rotary assembly 5 is connected to the mounting fixture 6 to drive the mounting fixture 6 to rotate. The mounting fixture 6 is used to fix the parts, and different parts are matched with different mounting fixtures 6.

[0024] Reference Figure 2 Furthermore, the X-axis linear drive assembly 1 includes a first mounting platform 11, a first lead screw 12, a first threaded sleeve 13, a first rotary drive component 14, and a first movable seat 15. The first threaded sleeve 13 is sleeved on the outer wall of the first lead screw 12 and threadedly connected to the first lead screw 12. The first lead screw 12 is rotatably connected to the first mounting seat, and the length direction of the first lead screw 12 is parallel to the X-axis. A first slide rail 111 parallel to the first lead screw 12 is provided on the first mounting platform 11. A first slider 112 is slidably provided on the first slide rail 111. The first slider 112 and the first threaded sleeve 13 are both connected and fixed to the first movable seat 15. The Y-axis linear drive assembly 2 is connected and fixed to the first movable seat 15. The first rotary drive component 14... The first rotating drive unit 14 is connected and fixed to the first mounting platform 11 and connected to the first lead screw 12 to drive the first lead screw 12 to rotate in both directions. The first rotating drive unit 14 is a high-speed servo motor. The first rotating drive unit 14 drives the first lead screw 12 to rotate, causing the first threaded sleeve 13 to move along the length direction of the first lead screw 12. The first threaded sleeve 13 moves back and forth along the length direction of the lead screw by rotating the first lead screw 12 in both directions, thereby driving the first moving seat 15 to move back and forth along the X-axis. The first moving seat 15 drives the Y-axis linear drive assembly 2, the Z-axis linear drive assembly 3, the A-axis rotary assembly 4, the C-axis rotary assembly and the mounting fixture 6 to move back and forth along the X-axis, thereby enabling the part to move back and forth along the X-axis.

[0025] Reference Figure 3Furthermore, the Y-axis linear drive assembly 2 includes a second mounting platform 21, a second lead screw 22, a second threaded sleeve 23, a second rotary drive component 24, and a second movable seat 25. The second mounting seat is fixedly connected to the first movable seat 15. The second threaded sleeve 23 is sleeved on the outer wall of the second lead screw 22 and threadedly connected to the second lead screw 22. The second lead screw 22 is rotatably connected to the second mounting platform 21. The length direction of the second lead screw 22 is parallel to the Y-axis. A second slide rail 211 parallel to the second lead screw 22 is provided on the second mounting platform 21. A second slider 212 is slidably provided on the second slide rail 211. Both the second slider 212 and the second threaded sleeve 23 are fixedly connected to the second movable seat 25. The Z-axis linear drive assembly 3 is fixedly connected to the second... The movable seat 25 is fixedly connected. The second rotary drive 24 is fixedly connected to the second mounting platform 21 and connected to the second lead screw 22 to drive the second lead screw 22 to rotate in both directions. The second rotary drive 24 is a high-speed servo motor. The second rotary drive 24 drives the second lead screw 22 to rotate, causing the second threaded sleeve 23 to move along the length direction of the second lead screw 22. The forward and reverse rotation of the second lead screw 22 realizes the reciprocating movement of the second threaded sleeve 23 along the length direction of the second lead screw 22, thereby driving the movable seat to move reciprocally along the Y-axis. The second movable seat 25 drives the Z-axis linear drive assembly 3, the A-axis rotary assembly 4, the C-axis rotary assembly and the mounting fixture 6 to move reciprocally along the Y-axis, thereby realizing the reciprocating movement of the part along the Y-axis.

[0026] Reference Figure 4 Furthermore, the Z-axis linear drive assembly 3 includes a third mounting platform 31, a third lead screw 32, a third threaded sleeve 33, a third rotary drive component 34, and a third movable seat 35. The third mounting platform 31 is fixedly connected to the second movable seat 25. The third threaded sleeve 33 is sleeved on the outer wall of the third lead screw 32 and threadedly connected to the third lead screw 32. The third lead screw 32 is rotatably connected to the third mounting platform 31, and the length direction of the third lead screw 32 is parallel to the Z-axis. A third slide rail 311 parallel to the length direction of the third lead screw 32 is provided on the third mounting platform 31. A third slider 312 is slidably provided on the third slide rail 311. Both the third slider 312 and the third threaded sleeve 33 are fixedly connected to the third movable seat 35. The A-axis rotates... The drive assembly is fixedly connected to the third movable seat 35. The third rotary drive 34 is fixedly connected to the third mounting platform 31 and connected to the third lead screw 32 to drive the third lead screw 32 to rotate in both directions. The third rotary drive 34 is a high-speed servo motor. By driving the third lead screw 32 to rotate, the third threaded sleeve 33 moves along the length of the third lead screw 32. The forward and reverse rotation of the third lead screw 32 realizes the reciprocating movement of the third threaded sleeve 33 along the length of the third lead screw 32, thereby driving the third movable seat to move reciprocally along the Z-axis. The third movable seat 35 drives the A-axis rotary assembly 4, the C-axis rotary assembly, and the mounting fixture 6 to move reciprocally along the Z-axis, thereby realizing the reciprocating movement of the parts along the Z-axis.

[0027] Furthermore, the first rotary drive component 14, the second rotary drive component 24, and the third rotary drive component 34 are all equipped with a first encoder for measuring their drive stroke. Through the cooperation of a high-speed servo motor and the encoder, the parts are controlled by an external control system to achieve high displacement accuracy along the X, Y, and Z axes and realize position feedback, which facilitates the precise positioning of the parts in the X, Y, and Z axes.

[0028] Reference Figure 5 Furthermore, the A-axis rotation assembly 4 includes an A-axis rotary table 41, a fourth rotation drive 42, and an extension arm 43. The A-axis rotary table 41 is rotatably connected to the third movable seat 35, and the rotation axis of the A-axis rotary table 41 is parallel to the X-axis direction. The fourth rotation drive 42 (not shown in the figure) is fixed on the third movable seat 35 and connected to the A-axis rotary table to drive the A-axis rotary table 41 to reciprocate. The extension arm 43 is disposed on one end face of the A-axis rotary table and extends in the X-axis direction. The C-axis rotation assembly 5 includes a C-axis rotary table 51 and a fifth rotation drive 52. The C-axis rotary table 51 is rotatably connected to the extension arm 43, and the fifth rotation drive 52 (not shown in the figure) is fixed on the extension arm 43 and... The C-axis rotary table 51 is connected to drive it to reciprocate. The rotation axis of the C-axis rotary table 51 is parallel to the Z-axis. The mounting fixture 6 is fixed to the top surface of the C-axis rotary table 51. By rotating the C-axis rotary table 51 and the A-axis rotary table, the part can be rotated and swung with two degrees of freedom, enabling multi-faceted machining of the part. The fourth rotary drive 42 and the fifth rotary drive 52 are both DD motors. Both the fourth rotary drive 42 and the fifth rotary drive 52 are equipped with a second encoder to measure their drive stroke. By connecting the DD motor and the encoder to the external control system signal, the rotation stroke of the part and the swung position can be precisely controlled, resulting in high machining accuracy of the part.

[0029] The implementation principle of the five-axis linkage motion platform for automatic machining of complex-shaped parts disclosed in this application is as follows: the part is driven to reciprocate along the X, Y, and Z linear axes by the X-axis linear drive assembly 1, Y-axis linear drive assembly 2, and Z-axis linear drive assembly 3; the part is rotated in the X and Z axes by the A-axis rotation assembly 4 and C-axis rotation assembly. The part has five degrees of freedom of movement, allowing for a wider machining range on a single machine tool, reducing the need to change machine tools, and adapting to the machining of complex parts with curved, inclined, and concave surfaces. This improves production efficiency, reduces positioning errors during part transfer, and achieves high machining accuracy. The X-axis linear drive assembly 1, Y-axis linear drive assembly 2, and Z-axis linear drive assembly 3 all... The motion is driven by a servo motor controlling the lead screw rotation, which enables high precision movement of the part in the X, Y, and Z axes and allows for stroke locking for easy positioning and machining. Both the A-axis rotary assembly 4 and the C-axis rotary assembly 5 are driven by DD motors to achieve part rotation. The DD motor operates based on the principle of synchronous motors, and achieves precise speed and position control by controlling the frequency of current and voltage, resulting in high speed and high positioning accuracy of part rotation, further improving part production efficiency. The part's movement stroke in the X, Y, and Z axes is sensed by an encoder, and the rotation stroke of the part in the A and C axes is detected by the encoder. This allows for precise control of the part's movement stroke and positioning of its swing direction by an external control system, resulting in high part machining accuracy.

[0030] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A five-axis linkage motion platform for automatic machining of complex-shaped parts, characterized in that: The assembly includes an X-axis linear drive assembly, a Y-axis linear drive assembly, a Z-axis linear drive assembly, an A-axis rotary assembly, a C-axis rotary assembly, and a mounting fixture. The direction perpendicular to the horizontal ground is considered parallel to the Z-axis. The X-axis linear drive assembly is connected to the Y-axis linear drive assembly to drive the Y-axis linear drive assembly to reciprocate along the Y-axis. The Y-axis linear drive assembly is connected to the Z-axis linear drive assembly to drive the Z-axis linear drive assembly to reciprocate along the Y-axis. The Z-axis linear drive assembly is connected to the A-axis rotary assembly to drive the A-axis rotary assembly to reciprocate along the Z-axis. The extension line of the rotation center of the A-axis rotary assembly is parallel to the X-axis, and the A-axis rotary assembly is connected to the C-axis rotary assembly to drive the C-axis rotary assembly to rotate. The extension line of the rotation center of the C-axis rotary assembly is parallel to the Z-axis, and the C-axis rotary assembly is connected to the mounting fixture to drive the mounting fixture to rotate. The mounting fixture is used to fix the parts.

2. The five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 1, characterized in that: The X-axis linear drive assembly includes a first mounting platform, a first lead screw, a first threaded sleeve, a first rotary drive component, and a first movable seat. The first threaded sleeve is sleeved on the outer wall of the first lead screw and threadedly connected to the first lead screw. The first lead screw is rotatably connected to the first mounting platform, and the length direction of the first lead screw is parallel to the X-axis. A first slide rail parallel to the first lead screw is provided on the first mounting platform, and a first slider is slidably provided on the first slide rail. The first slider and the first threaded sleeve are both connected and fixed to the first movable seat. The Y-axis linear drive assembly is connected and fixed to the first movable seat. The first rotary drive component is connected and fixed to the first mounting platform and connected to the first lead screw to drive the first lead screw to rotate in both directions.

3. The five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 2, characterized in that: The Y-axis linear drive assembly includes a second mounting platform, a second lead screw, a second threaded sleeve, a second rotary drive component, and a second movable seat. The second threaded sleeve is fitted onto the outer wall of the second lead screw and threadedly connected to it. The second lead screw is rotatably connected to the second mounting platform, and its length direction is parallel to the Y-axis. A second slide rail parallel to the second lead screw is provided on the second mounting platform, and a second slider is slidably mounted on the second slide rail. Both the second slider and the second threaded sleeve are fixedly connected to the second movable seat. The Z-axis linear drive assembly is fixedly connected to the second movable seat, and the second rotary drive component is fixedly connected to the second mounting platform and connected to the second lead screw to drive it to rotate in both directions.

4. The five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 3, characterized in that: The Z-axis linear drive assembly includes a third mounting platform, a third lead screw, a third threaded sleeve, a third rotary drive component, and a third movable seat. The third threaded sleeve is fitted onto the outer wall of the third lead screw and threadedly connected to it. The third lead screw is rotatably connected to the third mounting platform, and its length direction is parallel to the Z-axis. A third slide rail parallel to the length direction of the third lead screw is provided on the third mounting platform. A third slider is slidably mounted on the third slide rail. Both the third slider and the third threaded sleeve are fixedly connected to the third movable seat. The A-axis rotary drive assembly is fixedly connected to the third movable seat. The third rotary drive component is fixedly connected to the third mounting platform and connected to the third lead screw to drive the third lead screw to rotate in both directions.

5. A five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 4, characterized in that: The first rotary drive, the second rotary drive, and the third rotary drive are all high-speed servo motors, and each of the first rotary drive, the second rotary drive, and the third rotary drive is equipped with a first encoder for measuring its drive stroke.

6. The five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 1, characterized in that: The A-axis rotation assembly includes an A-axis rotary table, a fourth rotation drive component, and an extension arm. The A-axis rotary table is rotatably connected to the Z-axis linear drive assembly, and the rotation axis of the A-axis rotary table is parallel to the X-axis direction. The extension arm is disposed on one end face of the A-axis rotary table and extends in the X-axis direction. The C-axis rotation assembly is fixedly connected to the extension arm. The fourth rotation drive component is connected to the A-axis rotary table to drive the A-axis rotary table to rotate in both directions.

7. A five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 6, characterized in that: The C-axis rotation assembly includes a C-axis rotary table and a fifth rotation drive component. The C-axis rotary table is rotatably connected to the A-axis rotation assembly, and the rotation axis of the C-axis rotary table is parallel to the Z-axis direction. The fifth rotation drive component is connected to the C-axis rotary table to drive the C-axis rotary table to rotate in both directions. The mounting fixture is fixed to the top surface of the C-axis rotary table.

8. A five-axis linkage motion platform for automatic machining of complex-shaped parts according to claim 7, characterized in that: Both the fourth and fifth rotary drive components are DD motors, and both are equipped with a second encoder for measuring their drive stroke.

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