Gantry type four-channel machining center

Abstract

The utility model discloses a gantry type four-channel machining center, which is equivalent to that four CNCs (computer numerical control) are combined together and share a lathe bed, and four length seats are fixedly mounted on one side of the top end of the lathe bed. By arranging the tool changing manipulator assembly, a first movable plate slides relative to a first movable shell, a second movable plate slides relative to a second movable shell, and a third movable plate slides relative to a third movable shell, tools at different positions can be replaced conveniently; a Y-axis moving assembly, an X-axis moving assembly and a Z-axis moving assembly are arranged, a cutter placing position is a cutter position where a cutter handle is placed on a movable disc after a pneumatic main shaft completes machining, then a standby cutter handle on the movable disc is taken, in this way, the cutter changing action is completed, then the movable disc returns to the rear portion of a cross beam, automatic cutter changing is achieved, operation is easy and convenient, and the cutter changing problem of equipment is solved.

Description

Technical Field

[0001] This utility model relates to the field of machine tool metal processing technology, specifically a gantry-type four-channel machining center. Background Technology

[0002] With increasing competition in the machine tool industry, high efficiency and high precision have become the direction of development and innovation. Therefore, multi-channel machines have become a way to improve efficiency and readiness, which also puts forward higher requirements for system control, requiring CNC systems to be able to control multiple devices simultaneously or perform multi-process collaborative machining.

[0003] This multi-channel machining center can process multiple parts simultaneously. The four channels allow for independent control of each XYZ direction, enabling error compensation, improving machining accuracy, and enhancing both efficiency and precision. Compared to purchasing multiple single-channel CNC machines, the four-channel solution offers significantly lower investment costs.

[0004] However, compared to traditional single-channel equipment, multi-channel systems have more complex structures, more complex assembly requirements, and more complex control. This four-channel machining center addresses these technical challenges. Utility Model Content

[0005] The purpose of this invention is to provide a gantry-type four-channel machining center to address the challenges posed by the aforementioned background technology, which states that multi-channel machining centers have more complex structures, assembly requirements, and control and tool changing capabilities compared to traditional single-channel machining centers. This four-channel machining center effectively solves these technical difficulties, achieving a breakthrough in multi-channel CNC technology.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a gantry-type four-channel machining center, including a bed, four length seats fixedly installed on one side of the top of the bed, Y-axis moving components installed at the middle of the top of each of the four length seats, and worktables installed above each of the four Y-axis moving components. A crossbeam frame located above the length seats is fixedly installed on the top of the bed, four X-axis moving components are fixedly installed on one side of the crossbeam frame, Z-axis moving components are installed on one side of each of the four X-axis moving components, and a spindle is installed on one side of each of the four Z-axis moving components. A crossbeam frame robot arm bracket is fixedly installed on the other side of the top of the bed, and a tool changing robot arm assembly is fixedly installed on the other side of the crossbeam frame. Four tool magazine bins are fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket, and four pneumatic robot arm grippers are installed at the bottom of the tool changing robot arm assembly.

[0007] Preferably, the tool-changing robot assembly includes a first movable housing and a first servo motor. One end of one side of the first movable housing is fixedly connected to one side of the first servo motor. A first screw is fixedly installed at the output end of the first servo motor. A first movable plate, which is slidably connected to the first movable housing, is threaded onto the surface of the first screw. A second movable housing is fixedly installed on one side of the first movable plate. A second servo motor is fixedly installed at one end of one side of the second movable housing. A second screw is fixedly installed at the output end of the second servo motor. A second movable plate, which is slidably connected to the second movable housing, is threaded onto the surface of the second screw. A third movable housing is fixedly installed on one side of the second movable plate. A third servo motor is fixedly installed at one end of one side of the third movable housing. A third screw is fixedly installed at the output end of the third servo motor. A third movable plate, which is slidably connected to the middle of the third screw, is threaded onto the middle of the third screw. A clamping frame is fixedly installed at the bottom end of the third movable plate. The bottom end of the clamping frame is fixedly connected to four pneumatic robot grippers. One side of the movable shell is fixedly connected to the crossbeam frame. After the first servo motor is powered on, it starts and drives the first screw to rotate. The thread on the surface of the first screw matches the thread inside the first movable plate. The first movable plate is limited by the first movable shell, which matches its shape and size. Therefore, the first movable plate slides along the first screw, adjusting the pneumatic manipulator gripper in the X direction. After the second servo motor is powered on, it starts and drives the second screw to rotate. The thread on the surface of the second screw matches the thread on the inner wall of the second movable plate. The second movable plate is limited by the second movable shell, which matches its shape and size. Therefore, the second movable plate slides along the second screw, adjusting the pneumatic manipulator gripper in the Y direction. After the third servo motor is powered on, it starts and drives the third screw to rotate. The thread on the surface of the third screw matches the thread on the inner wall of the third movable plate. The third movable plate is limited by the third movable shell, which matches its shape and size. Therefore, the third movable plate slides along the third screw, adjusting the pneumatic manipulator gripper in the Z direction.

[0008] Preferably, two first sliding guide rails are fixedly installed at both ends of one side of the first movable shell, and two first sliding blocks are fixedly installed at both ends of the other side of the first movable plate. The four first sliding blocks are slidably connected to the two first sliding guide rails respectively. Two second sliding guide rails are fixedly installed at both ends of one side of the second movable shell, and two second sliding blocks are fixedly installed at both ends of the other side of the second movable plate. The four second sliding blocks are slidably connected to the two second sliding guide rails respectively. Three sliding guide rails are fixedly installed at both ends of one side of the third movable shell, and two third sliding blocks are fixedly installed at both ends of the other side of the third movable plate. The four third sliding blocks are slidably connected to the two third sliding guide rails respectively. The installation of the first sliding guide rails and the first sliding blocks improves the stability of the first movable plate sliding along the first movable shell. The installation of the second sliding guide rails and the second sliding blocks improves the stability of the second movable plate sliding with the second movable shell. The installation of the third sliding guide rails and the third sliding blocks improves the stability of the third movable plate sliding with the third movable shell.

[0009] Preferably, each of the four Y-axis moving components includes two limiting seats and a first lead screw. The opposite sides of the two limiting seats are rotatably connected to both ends of the first lead screw. The middle of the first lead screw is threadedly connected to a first moving block that is slidably connected to a length seat. The top end of the first moving block is fixedly connected to the worktable. A tool magazine moving disc ejector motor is fixedly mounted on the surface of one of the limiting seats. The output end of the tool magazine moving disc ejector motor is fixedly connected to the side of the first lead screw facing away from it. The bottom ends of the two limiting seats are fixedly connected to the length seat. When the tool magazine moving disc ejector motor is powered on, it starts and drives the first lead screw to rotate. The thread on the surface of the first lead screw matches the thread on the inner wall of the first moving block. The first moving block is limited by the length seat, so the first moving block slides along the first lead screw, adjusting the Y-axis direction of the worktable.

[0010] Preferably, displacement guide rails are fixedly installed on both sides of the top of the four length seats, and displacement blocks are fixedly installed on both sides of the bottom of the four worktables. The sixteen displacement blocks are slidably connected to the eight displacement guide rails respectively. During the sliding of the worktable, the displacement blocks slide along the displacement guide rails, thereby improving the stability of the worktable sliding.

[0011] Preferably, each of the four X-axis moving components includes a fourth servo motor and a second lead screw. The output end of the fourth servo motor is fixedly connected to one end of the second lead screw. A second moving block that is slidably connected to the crossbeam is threadedly connected to the middle of the second lead screw. One side of the second moving block is connected to the Z-axis moving component. One side of the fourth servo motor is fixedly connected to the crossbeam. When the fourth servo motor is powered on, it starts and drives the second lead screw to rotate. The thread on the surface of the second lead screw matches the thread on the inner wall of the second moving block. The second moving block is limited by the crossbeam that matches its shape and size, so the second moving block slides along the second lead screw to adjust the X-direction of the spindle.

[0012] Preferably, each of the four Z-axis moving components includes a height plate and a third lead screw. A fifth servo motor is fixedly installed at the top of one side of the height plate. The output end of the fifth servo motor is fixedly connected to one end of the third lead screw. A third moving block is threadedly connected to the middle of the third lead screw and slidably connected to the height plate. A mounting base is fixedly installed on one side of the third moving block. One side of the mounting base is fixedly connected to the main shaft. The other side of the height plate is fixedly connected to the X-axis moving component. When the fifth servo motor is powered on, it starts and drives the third lead screw to rotate. The thread on the surface of the third lead screw matches the thread on the inner wall of the third moving block. The third moving block is limited by the height plate, which matches its shape and size. Therefore, the third moving block slides along the third lead screw, adjusting the Z-axis direction of the main shaft.

[0013] Preferably, a tool magazine moving plate is installed in the middle between the four length seats. Four tool preparation positions are fixedly installed on one side of the top of the tool magazine moving plate. Four tool positions are fixedly installed on the tool magazine moving plate, which are tool placement positions on one side of the tool preparation positions. Four tool setting devices are fixedly installed on the other side of the top of the tool magazine moving plate. The tool preparation positions are for placing spare tools, and the tool placement positions are for placing the tools to be used. The tool setting devices detect the length of the spindle tools.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. By innovatively combining four single-channel gantry machining centers, a gantry-type four-channel machining center was created.

[0016] 2. By setting up a tool changing robot assembly, the first movable plate slides relative to the first movable shell to adjust the X position of the pneumatic robot clamp, the second movable plate slides relative to the second movable shell to adjust the Y position of the pneumatic robot clamp, and the third movable plate slides relative to the third movable shell to adjust the Z position of the pneumatic robot clamp. This facilitates the replacement of tools in different positions, is highly practical, and creatively solves the problem of tool changing in four-channel machining.

[0017] 3. By setting up Y-axis, X-axis and Z-axis moving components, the tool holder is placed on the tool position on the moving plate after the pneumatic spindle finishes machining, and then the spare tool holder on the moving plate is retrieved. This completes the tool change action. Then the moving plate retracts behind the crossbeam, realizing automatic tool change by rotating the moving plate. This creatively solves the difficulties and reliability challenges of tool change in multi-channel systems. Attached Figure Description

[0018] Figure 1 This is the front view of the present invention;

[0019] Figure 2 This is a perspective view of the present utility model;

[0020] Figure 3 This is a top view of the present invention;

[0021] Figure 4 This is a partial view of the present invention;

[0022] Figure 5 This is a rear view of the present invention.

[0023] In the diagram: 1. Bed; 2. Crossbeam frame robot arm support; 3. Tool magazine moving plate; 4. Crossbeam frame; 5. Length support; 6. Worktable; 7. Displacement guide rail; 8. Y-axis moving assembly; 81. Tool magazine moving plate ejection motor; 82. Limit seat; 83. First lead screw; 84. First moving block; 9. Displacement block; 10. X-axis moving assembly; 101. Fourth servo motor; 102. Second lead screw; 103. Second moving block; 11. Z-axis moving assembly; 111. Height plate; 112. Fifth servo motor; 113. Third lead screw; 114. Third moving block; 11 5. Mounting base; 12. Spindle; 13. Tool preparation position; 14. Tool placement position; 15. Tool setter; 16. Tool changing robot assembly; 1601. First movable housing; 1602. First servo motor; 1603. First screw; 1604. First movable plate; 1605. Second movable housing; 1606. Second servo motor; 1607. Second movable plate; 1608. Third servo motor; 1609. Third movable housing; 1610. Clamping frame; 1611. Second screw; 1612. Third movable plate; 17. Tool magazine hopper; 18. Pneumatic robot gripper. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0025] Please see Figures 1-5This utility model provides a gantry-type four-channel machining center, including a bed 1. Four length seats 5 are fixedly installed on one side of the top of the bed 1. Y-axis moving components 8 are installed in the middle of the top of each of the four length seats 5. Worktables 6 are installed above each of the four Y-axis moving components 8. A crossbeam frame 4 is fixedly installed above the length seats 5 at the top of the bed 1. Four X-axis moving components 10 are fixedly installed on one side of the crossbeam frame 4. Z-axis moving components 11 are installed on one side of each of the four X-axis moving components 10. A spindle 12 is installed on one side of each of the four Z-axis moving components 11. A crossbeam frame robot arm bracket 2 is fixedly installed on the other side of the top of the bed 1. A tool changing robot arm assembly 16 is fixedly installed on the other side of the crossbeam frame 4. Four tool magazine bins 17 are fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket 2. Four pneumatic robot arm clamps 18 are installed at the bottom of the tool changing robot arm assembly 16.

[0026] The tool-changing robotic arm assembly 16 includes a first movable housing 1601 and a first servo motor 1602. One end of one side of the first movable housing 1601 is fixedly connected to one side of the first servo motor 1602. A first screw 1603 is fixedly mounted on the output end of the first servo motor 1602. A first movable plate 1604, which is slidably connected to the first movable housing 1601, is threaded onto the surface of the first screw 1603. A second movable housing 1605 is fixedly mounted on one side of the first movable plate 1604. A second servo motor 1606 is fixedly mounted on one end of one side of the second movable housing 1605. A second screw 1611 is fixedly mounted on the output end of the second servo motor 1606. A second movable plate 1607, which is slidably connected to the second movable housing 1605, is threaded onto the surface of rod 1611. A third movable housing 1609 is fixedly installed on one side of the second movable plate 1607. A third servo motor 1608 is fixedly installed at one end of one side of the third movable housing 1609. A third screw is fixedly installed at the output end of the third servo motor 1608. A third movable plate 1612, which is slidably connected to the third movable housing 1609, is threaded onto the middle of the third screw. A clamping frame 1610 is fixedly installed at the bottom end of the third movable plate 1612. The bottom end of the clamping frame 1610 is fixedly connected to four pneumatic manipulator grippers 18. The other side of the first movable housing 1601 is connected to... The crossbeam frame 4 is fixedly connected. After the first servo motor 1602 is powered on, it starts and drives the first screw 1603 to rotate. The threads on the surface of the first screw 1603 match the threads inside the first movable plate 1604. The first movable plate 1604 is limited by the first movable housing 1601, which matches its shape and size. Therefore, the first movable plate 1604 slides along the first screw 1603, adjusting the pneumatic manipulator gripper 18 in the X direction. After the second servo motor 1606 is powered on, it starts and drives the second screw 1611 to rotate. The threads on the surface of the second screw 1611 match the threads on the inner wall of the second movable plate 1607. The threads are matched, and the second movable plate 1607 is limited by the second movable shell 1605, which matches its shape and size. Therefore, the second movable plate 1607 slides along the second screw 1611, adjusting the pneumatic manipulator gripper 18 in the Y direction. After the third servo motor 1608 is powered on, it starts and drives the third screw to rotate. The threads on the surface of the third screw match the threads on the inner wall of the third movable plate 1612. The third movable plate 1612 is limited by the third movable shell 1609, which matches its shape and size. Therefore, the third movable plate 1612 slides along the third screw, adjusting the pneumatic manipulator gripper 18 in the Z direction.

[0027] First sliding guide rails are fixedly installed at both ends of one side of the first movable shell 1601. Two first sliding blocks are fixedly installed at both ends of the other side of the first movable plate 1604. The four first sliding blocks are slidably connected to the two first sliding guide rails respectively. Second sliding guide rails are fixedly installed at both ends of one side of the second movable shell 1605. Two second sliding blocks are fixedly installed at both ends of the other side of the second movable plate 1607. The four second sliding blocks are slidably connected to the two second sliding guide rails respectively. Third sliding guide rails are fixedly installed at both ends of one side of the third movable shell 1609. Two third sliding blocks are fixedly installed at both ends of the other side of the third movable plate 1612. The four third sliding blocks are slidably connected to two third sliding guide rails respectively. The installation of the first sliding guide rail and the first sliding block improves the stability of the first movable plate 1604 sliding along the first movable shell 1601. The installation of the second sliding guide rail and the second sliding block improves the stability of the second movable plate 1607 sliding with the second movable shell 1605. The installation of the third sliding guide rail and the third sliding block improves the stability of the third movable plate 1612 sliding with the third movable shell 1609.

[0028] Each of the four Y-axis moving components 8 includes two limiting seats 82 and a first lead screw 83. The opposite sides of the two limiting seats 82 are rotatably connected to the two ends of the first lead screw 83. The middle of the first lead screw 83 is threadedly connected to a first moving block 84 that is slidably connected to a length seat 5. The top of the first moving block 84 is fixedly connected to the worktable 6. A tool magazine moving disc ejector motor 81 is fixedly mounted on the surface of one of the limiting seats 82. The output end of the tool magazine moving disc ejector motor 81 is fixedly connected to the side of the first lead screw 83 facing away from it. The bottom ends of the two limiting seats 82 are fixedly connected to the length seat 5. When the tool magazine moving disc ejector motor 81 is powered on, it starts and drives the first lead screw 83 to rotate. The thread on the surface of the first lead screw 83 matches the thread on the inner wall of the first moving block 84. The first moving block 84 is limited by the length seat 5, so the first moving block 84 slides along the first lead screw 83 to adjust the Y-axis direction of the worktable 6.

[0029] Displacement guide rails 7 are fixedly installed on both sides of the top of the four length seats 5, and displacement blocks 9 are fixedly installed on both sides of the bottom of the four worktables 6. The sixteen displacement blocks 9 are slidably connected to the eight displacement guide rails 7 respectively. During the sliding process of the worktable 6, the displacement blocks 9 slide along the displacement guide rails 7, which improves the stability of the sliding of the worktable 6.

[0030] Each of the four X-axis moving components 10 includes a fourth servo motor 101 and a second lead screw 102. The output end of the fourth servo motor 101 is fixedly connected to one end of the second lead screw 102. The middle part of the second lead screw 102 is threadedly connected to a second moving block 103 that is slidably connected to the crossbeam frame 4. One side of the second moving block 103 is fixedly connected to the Z-axis moving component 11, and one side of the fourth servo motor 101 is fixedly connected to the crossbeam frame 4. When the fourth servo motor 101 is powered on, it starts and drives the second lead screw 102 to rotate. The threads on the surface of the second lead screw 102 match the threads on the inner wall of the second moving block 103. The second moving block 103 is limited by the crossbeam frame 4, which matches its shape and size. Therefore, the second moving block 103 slides along the second lead screw 102 to adjust the X-direction of the main shaft 12.

[0031] Each of the four Z-axis moving components 11 includes a height plate 111 and a third lead screw 113. A fifth servo motor 112 is fixedly installed at the top of one side of the height plate 111. The output end of the fifth servo motor 112 is fixedly connected to one end of the third lead screw 113. A third moving block 114 is threadedly connected to the middle of the third lead screw 113 and slidably connected to the height plate 111. A mounting base 115 is fixedly installed on one side of the third moving block 114. One side of the mounting base 115 is fixedly connected to the spindle 12. The other side of the height plate 111 is fixedly connected to the X-axis moving component 10. When the fifth servo motor 112 is powered on, it starts and drives the third lead screw 113 to rotate. The threads on the surface of the third lead screw 113 match the threads on the inner wall of the third moving block 114. The third moving block 114 is limited by the height plate 111, which matches its shape and size. Therefore, the third moving block 114 slides along the third lead screw 113 to adjust the Z-axis direction of the spindle 12.

[0032] A tool magazine moving plate 3 is installed in the middle between the four length seats 5. Four tool reserve positions 13 are fixedly installed on one side of the top of the tool magazine moving plate 3. Four tool positions are fixedly installed on the tool magazine moving plate 3, namely the tool placement positions 14 on one side of the tool reserve positions 13. Four tool setting devices 15 are fixedly installed on the other side of the top of the tool magazine moving plate 3. The tool reserve positions 13 are used to place the tool, the tool placement positions 14 are used to place the tool, and the tool setting devices 15 detect the length of the spindle tool.

[0033] In this embodiment, when in use: the tool magazine push-out motor 81 is energized and starts, driving the first lead screw 83 to rotate. The thread on the surface of the first lead screw 83 matches the thread on the inner wall of the first moving block 84. The first moving block 84 is limited by the length seat 5, so the first moving block 84 slides along the first lead screw 83, adjusting the Y-axis direction of the worktable 6. During the sliding of the worktable 6, the displacement block 9 slides along the displacement guide rail 7, improving the stability of the worktable 6. The fourth servo motor 101 is energized and starts, driving the second lead screw 102 to rotate. The thread on the surface of the second lead screw 102 matches the thread on the inner wall of the second moving block 103, and the second moving block 103 is subjected to the thread... The crossbeam 4, with its matching shape and size, is positioned, causing the second moving block 103 to slide along the second lead screw 102, adjusting the X-direction of the main shaft 12. The fifth servo motor 112 is then powered on and starts, driving the third lead screw 113 to rotate. The thread on the surface of the third lead screw 113 matches the thread on the inner wall of the third moving block 114. The third moving block 114 is limited by a height plate 111, which matches its shape and size, causing it to slide along the third lead screw 113, adjusting the Z-direction of the main shaft 12. The first servo motor 1602 is then powered on and starts, driving the first screw 1603 to rotate. The thread on the surface of the first screw 1603 matches the thread on the inner wall of the third moving block 114. The threads inside the movable plate 1604 are matched. The first movable plate 1604 is limited by the first movable shell 1601, which matches its shape and size. Therefore, the first movable plate 1604 slides along the first screw 1603, adjusting the pneumatic manipulator gripper 18 in the X direction. After the second servo motor 1606 is powered on, it starts and drives the second screw 1611 to rotate. The threads on the surface of the second screw 1611 match the threads on the inner wall of the second movable plate 1607. The second movable plate 1607 is limited by the second movable shell 1605, which matches its shape and size. Therefore, the second movable plate 1607 slides along the second screw 1611, adjusting the pneumatic manipulator gripper 18 in the Y direction. The third servo... After the motor 1608 is powered on, it starts, driving the third screw to rotate. The threads on the surface of the third screw match the threads on the inner wall of the third movable plate 1612. The third movable plate 1612 is limited by the third movable shell 1609, which matches its shape and size. Therefore, the third movable plate 1612 slides along the third screw, adjusting the Z-direction of the pneumatic manipulator gripper 18 for tool changing. The installation of the first sliding guide rail and the first sliding block improves the stability of the first movable plate 1604 sliding along the first movable shell 1601. The installation of the second sliding guide rail and the second sliding block improves the stability of the second movable plate 1607 sliding with the second movable shell 1605. The installation of the third sliding guide rail and the third sliding block...Improve the sliding stability between the third movable plate 1612 and the third movable shell 1609.

[0034] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gantry-type four-channel machining center, comprising a bed (1), characterized in that: Four length seats (5) are fixedly installed on one side of the top of the bed (1). A Y-axis moving assembly (8) is installed in the middle of the top of each of the four length seats (5). A worktable (6) is installed above each of the four Y-axis moving assemblies (8). A crossbeam frame (4) located above the length seats (5) is fixedly installed on the top of the bed (1). Four X-axis moving assemblies (10) are fixedly installed on one side of the crossbeam frame (4). A worktable (6) is installed on one side of each of the four X-axis moving assemblies (10). There is a Z-axis moving assembly (11), and a spindle (12) is installed on one side of each of the four Z-axis moving assemblies (11). A crossbeam frame robot arm bracket (2) is fixedly installed on the other side of the top of the bed (1). A tool changing robot arm assembly (16) is fixedly installed on the other side of the crossbeam frame (4). Four tool magazine bins (17) are fixedly installed in the middle of the inner wall of the crossbeam frame robot arm bracket (2). Four pneumatic robot arm clamps (18) are installed at the bottom of the tool changing robot arm assembly (16).

2. The gantry-type four-channel machining center according to claim 1, characterized in that: The tool-changing robotic arm assembly (16) includes a first movable housing (1601) and a first servo motor (1602). One end of one side of the first movable housing (1601) is fixedly connected to one side of the first servo motor (1602). A first screw (1603) is fixedly installed at the output end of the first servo motor (1602). A first movable plate (1604) that is slidably connected to the first movable housing (1601) is threaded onto the surface of the first screw (1603). A second movable housing (1605) is fixedly installed on one side of the first movable plate (1604). A second servo motor (1606) is fixedly installed at one end of one side of the second movable housing (1605). A second screw (1611) is fixedly installed at the output end of the second servo motor (1606). 11) has a second movable plate (1607) that is slidably connected to the second movable shell (1605) by a threaded connection on its surface. A third movable shell (1609) is fixedly installed on one side of the second movable plate (1607). A third servo motor (1608) is fixedly installed at one end of one side of the third movable shell (1609). A third screw is fixedly installed at the output end of the third servo motor (1608). A third movable plate (1612) that is slidably connected to the third movable shell (1609) is threadedly connected to the middle of the third screw. A clamping frame (1610) is fixedly installed at the bottom end of the third movable plate (1612). The bottom end of the clamping frame (1610) is fixedly connected to four pneumatic manipulator clamps (18) respectively. The other side of the first movable shell (1601) is fixedly connected to the crossbeam frame (4).

3. A gantry-type four-channel machining center according to claim 2, characterized in that: The first movable shell (1601) has two fixed sliding rails installed at both ends on one side, and two first sliding blocks are fixedly installed at both ends on the other side of the first movable plate (1604). The four first sliding blocks are slidably connected to the two first sliding rails respectively. The second movable shell (1605) has two fixed sliding rails installed at both ends on one side, and two second sliding blocks are fixedly installed at both ends on the other side of the second movable plate (1607). The four second sliding blocks are slidably connected to the two second sliding rails respectively. The third movable shell (1609) has three fixed sliding rails installed at both ends on one side, and two third sliding blocks are fixedly installed at both ends on the other side of the third movable plate (1612). The four third sliding blocks are slidably connected to the two third sliding rails respectively.

4. A gantry-type four-channel machining center according to claim 1, characterized in that: Each of the four Y-axis moving components (8) includes two limiting seats (82) and a first lead screw (83). The opposite sides of the two limiting seats (82) are rotatably connected to the two ends of the first lead screw (83). The middle part of the first lead screw (83) is threaded with a first moving block (84) that is slidably connected to the length seat (5). The top of the first moving block (84) is fixedly connected to the worktable (6). A tool magazine moving disc ejection motor (81) is fixedly installed on the surface of one of the limiting seats (82). The output end of the tool magazine moving disc ejection motor (81) is fixedly connected to the side of the first lead screw (83) facing it. The bottom ends of the two limiting seats (82) are fixedly connected to the length seat (5).

5. A gantry-type four-channel machining center according to claim 1, characterized in that: Displacement guide rails (7) are fixedly installed on both sides of the top of the four length seats (5), and displacement blocks (9) are fixedly installed on both sides of the bottom of the four worktables (6). The sixteen displacement blocks (9) are slidably connected to the eight displacement guide rails (7) respectively.

6. A gantry-type four-channel machining center according to claim 1, characterized in that: Each of the four X-axis moving components (10) includes a fourth servo motor (101) and a second lead screw (102). The output end of the fourth servo motor (101) is fixedly connected to one end of the second lead screw (102). The middle part of the second lead screw (102) is threadedly connected to a second moving block (103) that is slidably connected to the crossbeam frame (4). One side of the second moving block (103) is connected to the Z-axis moving component (11), and one side of the fourth servo motor (101) is fixedly connected to the crossbeam frame (4).

7. A gantry-type four-channel machining center according to claim 1, characterized in that: Each of the four Z-axis moving components (11) includes a height plate (111) and a third lead screw (113). A fifth servo motor (112) is fixedly installed on the top of one side of the height plate (111). The output end of the fifth servo motor (112) is fixedly connected to one end of the third lead screw (113). A third moving block (114) that is slidably connected to the height plate (111) is threadedly connected to the middle of the third lead screw (113). A mounting base (115) is fixedly installed on one side of the third moving block (114). One side of the mounting base (115) is fixedly connected to the main shaft (12). The other side of the height plate (111) is fixedly connected to the X-axis moving component (10).

8. A gantry-type four-channel machining center according to claim 1, characterized in that: A tool magazine moving plate (3) is installed in the middle between the four length seats (5). Four tool preparation positions (13) are fixedly installed on one side of the top of the tool magazine moving plate (3). Four tool positions are fixedly installed on the tool magazine moving plate (3), namely the tool placement position (14) on one side of the tool preparation position (13). Four tool setting devices (15) are fixedly installed on the other side of the top of the tool magazine moving plate (3).

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