A horizontal eight-axis five-linkage turning and milling combined machine tool based on a hybrid robot

Abstract

The utility model discloses a kind of based on hybrid robot horizontal eight-axis five linkage turning-milling composite machine tool, belong to high-end equipment manufacturing technical field.The utility model adopts technical scheme, a kind of based on hybrid robot horizontal eight-axis five linkage turning-milling composite machine tool, including machine tool main body, machine tool main body side is sequentially provided with turret mechanism, workpiece fixing mechanism from bottom to top, hybrid robot mechanism;Wherein, the turret mechanism includes left lower turret assembly, right lower turret assembly symmetrically arranged in the both sides of machine tool main body;The utility model realizes eight-axis five linkage processing by the collaborative motion of symmetrical turret assembly and lifting control mechanism, combined with self-adapting support component and hybrid robot mechanism, solve the problem that traditional machine tool linkage ability is insufficient, workpiece support stability is poor and the problem of low automation collaborative efficiency, with the advantages of high processing efficiency, strong support stability, multi-axis linkage precision is excellent and the outstanding advantages of automation collaborative ability.

Description

Technical Field

[0001] This utility model belongs to the field of high-end equipment manufacturing technology, specifically relating to a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot. Background Technology

[0002] In high-end equipment fields such as aerospace, high-end automobile manufacturing, and precision medical devices, core components often have complex geometric structures, ultra-high dimensional accuracy, stringent surface quality requirements, and multi-process integrated machining needs. Traditional machining methods for these parts require multiple single-function machines to complete the process step by step. Multiple clamping not only leads to low production efficiency but also causes clamping errors due to the accumulation of positioning reference deviations, directly affecting the final accuracy of the parts and making it difficult to meet the performance requirements of high-end equipment for core components.

[0003] With the upgrading of manufacturing technology towards multi-functionality, high precision, and automation, milling-turning composite machine tools have emerged. By integrating multiple machining functions such as turning, milling, drilling, and tapping, they enable multi-process completion in a single setup, effectively solving the problem of precision loss caused by multiple setups. They have become core equipment for machining complex and precision parts. However, current milling-turning composite machine tools on the market still have several technical bottlenecks, making it difficult to fully meet the machining needs of high-end parts.

[0004] Existing milling and turning composite machine tools struggle to balance simultaneous operation and machining efficiency, often featuring five-axis four-linkage or six-axis five-linkage configurations. For eight-axis five-linkage scenarios requiring simultaneous turning, milling, and complex surface interpolation, this often necessitates splitting operations or adding external axes, fundamentally failing to overcome the limitations of single-station, single-process machining. Furthermore, workpiece support and fixation accuracy are insufficiently stable. For slender shaft parts with large length-to-diameter ratios, cutting vibrations easily occur during machining, leading to workpiece bending and deformation. Existing machine tool workpiece support mechanisms are mostly fixed ejector pins or manually adjustable support seats, unable to adaptively adjust the support position according to the actual length and diameter of the workpiece, and lack clamping force monitoring and real-time feedback mechanisms.

[0005] The collaborative performance of robots and tool magazines also has shortcomings. Serial robots, due to their multi-joint serial structure, suffer from insufficient rigidity and cannot withstand the radial cutting forces during milling, making it difficult for them to participate in core machining processes. Furthermore, existing robot-tool magazine collaboration largely relies on preset programs, lacking precise tool identification and real-time position compensation. The accuracy of turret lifting control is significantly affected by gravity; existing machine tool turret lifting mechanisms mostly rely on servo motors and ball screws for drive, failing to consider the impact of the turret's own weight on accuracy. The integration of intelligence and automation is low; the collaborative control of various mechanisms in existing milling and turning composite machine tools remains in a passive execution stage, lacking dynamic response capabilities.

[0006] To address the aforementioned issues, existing technologies urgently need improvement. Utility Model Content

[0007] This utility model provides a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot to solve at least one of the above-mentioned technical problems.

[0008] The technical solution adopted in this utility model is as follows: A horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot includes a machine tool body, and a turret mechanism, a workpiece fixing mechanism, and a hybrid robot mechanism are arranged sequentially from bottom to top on the side of the machine tool body. The turret mechanism includes a lower left turret assembly and a lower right turret assembly symmetrically arranged on both sides of the machine tool body. The side of the machine tool body is provided with a lifting control mechanism for controlling the lifting of the lower left turret assembly and the lower right turret assembly. The first linear guide rail is horizontally set on the outside of the machine tool body and located below the workpiece fixing mechanism. The two sets of lifting control mechanisms are slidably connected to the first linear guide rail to control the horizontal displacement of the lower left turret assembly and the lower right turret assembly. A support assembly is disposed on the outer middle part of the machine tool body, and the support assembly has a support part for supporting the workpiece to be processed located on the workpiece fixing mechanism.

[0009] Furthermore, this application also proposes that the support assembly includes a first sliding seat, the first sliding seat is slidably connected to a first linear guide rail, the support part is fixedly connected to the first sliding seat, the support part includes a support base, the support base is provided with a groove, and two sets of arc-shaped clamps are symmetrically slidably connected in the groove.

[0010] Furthermore, this application also proposes that the clamping ends of the two sets of arc-shaped clamps are equipped with pressure monitoring modules, and the slide groove is equipped with a first servo motor for driving the two sets of arc-shaped clamps to slide towards each other.

[0011] Furthermore, this application also proposes that the workpiece fixing mechanism includes a first fixed seat fixed to the side of the machine tool body and a second fixed seat slidably connected to the machine tool body. The first fixed seat and the second fixed seat are horizontally coaxially arranged. The side wall of the machine tool body is provided with a second linear guide rail for controlling the sliding of the second fixed seat. Both the first fixed seat and the second fixed seat are provided with bearing seats. The two bearing seats are coaxially arranged, and the bearing seats are provided with an installation station for fixing the workpiece to be processed. The first fixed seat or the second fixed seat is provided with a drive motor for driving the installation station to rotate.

[0012] Furthermore, this application also proposes that electronic rulers are provided in the length direction of both the first linear guide rail and the second linear guide rail, a first position sensor is provided on the second fixed base, and a second position sensor is provided on the first sliding base; It also includes a controller, which is used to receive the position signal of the first position sensor and control the sliding seat to slide according to the position signal of the first position sensor, so as to move the support to below the middle of the workpiece to be processed.

[0013] Furthermore, this application also proposes that the hybrid robot mechanism includes a third linear guide rail disposed above the machine tool body, on which a robot device is slidably connected, and a chain-type tool magazine that cooperates with the robot device is disposed above the machine tool body.

[0014] Furthermore, this application also proposes that the lower left turret assembly and the lower right turret assembly have the same structure, both including a turret body, a tool mounting plate, and a turret drive module; the turret drive module includes a second servo motor and a harmonic reducer, used to drive the tool mounting plate to achieve ±360° rotation indexing, with an indexing accuracy ≤0.001°.

[0015] Furthermore, this application also proposes that the tool mounting disc has 8-12 tool stations evenly distributed around its circumference, the tool stations being adaptable to turning tools, milling cutters, drill bits or taps, and each tool station is equipped with a tool identification sensor.

[0016] Furthermore, this application also proposes that the lifting control mechanism includes a vertically arranged fourth linear guide rail, on which a second sliding seat is slidably connected, and the turret body is fixed to the second sliding seat.

[0017] Furthermore, this application also proposes that the lifting control mechanism further includes a balancing component, the balancing component includes a cylinder, a piston rod is slidably connected inside the cylinder, the cylinder is fixed to the bottom of the fourth linear guide rail, the end of the piston rod is connected to the second sliding seat, and the piston rod outputs a force of 80%-90% of the weight of the lower left turret assembly or the lower right turret assembly, in order to counteract the influence of gravity on the lifting accuracy.

[0018] Due to the adoption of the above technical solution, the beneficial effects achieved by this utility model are as follows: 1. This solution achieves simultaneous machining at two stations through a symmetrical dual-turret layout, shortening process flow time. The support components, combined with sliding grooves and clamping modules, can dynamically match workpiece dimensions, reducing manual intervention. This solution, combined with horizontal guide rails and a lifting control mechanism, forms a composite motion trajectory, expanding the machining range. Through the above technical solutions, this application achieves eight-axis, five-linkage machining capability. The dual turrets can operate independently or collaboratively, significantly improving the machining efficiency of complex features. The adaptive clamping function of the support components reduces workpiece clamping errors and improves machining accuracy stability. The combined motion mode of the lifting control mechanism and horizontal guide rail enhances the spatial positioning accuracy of the tool. The collaborative operation of the hybrid robot mechanism and tool magazine optimizes the tool change path and machining process, improving the level of automation.

[0019] 2. This solution achieves adaptive adjustment of the support position through the cooperation of the sliding seat and the guide rail. The symmetrical sliding design of the arc-shaped clamping plate and the slide groove can adapt to workpieces of different diameters, eliminate manual adjustment errors and increase the clamping contact area, effectively suppressing bending deformation during workpiece processing.

[0020] This application can automatically match the support position according to the actual size of the workpiece, and evenly distribute the clamping force through the symmetrically distributed arc-shaped clamping surface to avoid plastic deformation of the workpiece due to excessive local force. At the same time, it improves the damping effect of the support mechanism on cutting vibration and ensures the shape accuracy and stability of slender shaft parts in the turning and milling composite machining process.

[0021] 3. This solution achieves real-time monitoring and automatic adjustment of clamping force through pressure monitoring and closed-loop control of servo motors, eliminating the impact of human operation errors on workpiece positioning accuracy. It effectively solves the problem of workpiece deformation or displacement caused by unstable clamping force in traditional support mechanisms, ensuring that slender shaft parts maintain a stable clamping state during processing, avoiding surface quality defects caused by cutting vibration, while reducing the frequency of manual intervention and improving processing efficiency and process consistency.

[0022] 4. This solution achieves automatic displacement of the second fixed seat through the second linear guide rail. Combined with the coaxially set bearing seat, it can automatically eliminate workpiece axis deviation during the clamping stage, avoiding coaxiality deviation caused by manual adjustment error.

[0023] This application can automatically adjust the spacing of the fixed seats according to the actual length of the workpiece, reducing the time for manual measurement and adjustment. At the same time, it ensures the rotational stability of the workpiece through a high-precision coaxial bearing seat, reducing radial runout caused by clamping errors, thereby improving the dimensional consistency of complex parts during multi-process machining.

[0024] 5. This solution achieves fully automatic adjustment of the support position by using the coordinated detection of electronic ruler and position sensor, combined with the closed-loop control of the sliding seat by the controller. This not only eliminates human operation errors but also significantly shortens the workpiece clamping preparation time. It effectively solves the technical problem that the support position cannot be adaptively adjusted when machining long shaft workpieces, ensuring that the support is always accurately located below the weak area of ​​the workpiece, suppressing bending deformation caused by cutting vibration. At the same time, the automation process reduces manual intervention, improving machining efficiency and accuracy stability.

[0025] 6. This solution combines a hybrid robot system with high-rigidity guideways, enabling the robot to move quickly while maintaining sufficient rigidity for cutting operations. The coordinated control of the chain tool magazine and the robot system achieves precise tool identification and dynamic path planning, avoiding the risk of incorrect tool changes and shortening tool change intervals. This application effectively solves the problem of insufficient rigidity when the robot participates in core machining processes, while improving tool change efficiency and tool management accuracy. The collaborative work of the hybrid robot mechanism and the chain tool magazine allows for rapid switching between multiple tools during the machining of complex parts, reducing downtime caused by manual tool changes and achieving continuous automated machining of multiple processes.

[0026] 7. This solution achieves micron-level angle control while maintaining high torque output through direct drive of a servo motor and harmonic reducer, improving indexing accuracy by an order of magnitude. Furthermore, the transmission components experience no mechanical wear, resulting in significantly better long-term stability than traditional structures. This application solves the problem of excessive machining tolerances in high-precision indexing features caused by insufficient turret indexing accuracy. Micron-level indexing and positioning are achieved through high-rigidity transmission and closed-loop control, ensuring consistent tooth pitch in multi-tooth parts and avoiding assembly interference caused by accumulated indexing errors. Simultaneously, it supports full-circumferential, dead-angle-free tool switching, adapting to multi-angle cutting requirements in complex surface machining.

[0027] 8. This solution, by increasing the number of workstations and integrating identification sensors, expands the types of tools that can be used in a single setup while avoiding process interruptions and the risk of incorrect tool changes caused by manual tool changes. This application enables rapid switching and accurate identification of multiple tool types, effectively reducing machining interruptions caused by insufficient tool preparation or mis-installation, and improving the efficiency and reliability of continuous machining of complex parts.

[0028] 9. This solution reduces the axial load on the leadscrew to 10%-20% of its original level by using a balancing component to output a constant thrust proportional to the turret's weight. This reduces the impact of leadscrew deformation on positioning accuracy and avoids vibrations caused by sudden changes in inertial forces during rapid lifting and lowering, significantly improving the smoothness and repeatability of the turret's lifting motion. This application effectively solves the problems of leadscrew elastic deformation and motion impact caused by the turret's own weight during lifting and lowering. By using a balancing component to offset most of the gravitational load, the load on the drive system is reduced, thereby improving the vertical displacement accuracy and motion stability of the turret and ensuring that the relative position between the tool and the workpiece remains constant during machining.

[0029] 10. This application introduces a balancing component to precisely match the cylinder output force with the turret weight, effectively reducing the screw load and avoiding the risk of overshoot caused by completely offsetting gravity. This extends the screw's service life while ensuring lifting accuracy. This application solves the problems of screw elastic deformation and motion impact caused by its own weight during turret lifting, improving the turret's vertical positioning accuracy and motion stability. It is particularly suitable for scenarios requiring high-frequency lifting and lowering, ensuring the relative positional accuracy of the tool and workpiece during the machining of complex parts. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of a specific embodiment of the present utility model; Figure 2 This is a front view of a specific embodiment of the present utility model; Figure 3 This is a top view of a specific embodiment of the present utility model; Figure 4 This utility model Figure 1 Enlarged view of section A in the middle; Figure 5 This utility model Figure 1 Enlarged view of section B.

[0031] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present invention, but do not constitute an undue limitation of the present invention.

[0032] In the attached diagram: 1. Machine tool body; 2. Lower left turret assembly; 21. Lower right turret assembly; 22. Turret body; 23. Tool mounting plate; 24. Turret drive module; 25. Tool station; 3. First linear guide; 31. First sliding seat; 32. Support seat; 33. Slide groove; 34. Arc-shaped clamp; 4. First fixed seat; 41. Second fixed seat; 42. Second linear guide; 43. Bearing seat; 44. Mounting station; 5. Third linear guide; 51. Robot equipment; 52. Chain tool magazine; 6. Fourth linear guide; 61. Second sliding seat; 7. Balancing assembly. Detailed Implementation

[0033] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0034] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0035] Furthermore, it should be understood in the description of this utility model that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0036] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "implementation," "example," "aspect," or "specific example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] In existing technologies, milling and turning composite machine tools face technical bottlenecks when machining complex and precision parts, including insufficient linkage capability, poor workpiece support stability, and low automation levels. Traditional machine tools employ a single-sided turret layout, requiring multiple adjustments to the workpiece orientation for machining long-shaft parts, resulting in low efficiency. Workpiece support mechanisms rely on manual adjustment, lacking self-adaptive capabilities and prone to clamping errors. Robot collaboration performance is insufficient, making it difficult to participate in core machining processes, and fixed tool change paths limit efficiency. Turret lifting mechanisms are significantly affected by gravity, making it difficult to meet the positioning accuracy requirements of micron-level machining. These problems severely restrict the one-time forming machining accuracy and efficiency of core components in high-end equipment.

[0039] To address the aforementioned issues, researchers discovered that improving the multi-axis linkage capability of machine tools requires overcoming the limitations of turret layout and achieving collaborative operation of both turrets. Regarding workpiece support stability, a support component with adaptive clamping and real-time monitoring functions needs to be developed. To overcome the influence of gravity on turret accuracy, a balancing mechanism needs to be introduced to counteract its own weight. Integrating a hybrid robot mechanism with a chain-type tool magazine can enhance automated collaborative capabilities. Based on this, a horizontal eight-axis five-linkage turning and milling composite machine tool was designed, achieving efficient and high-precision machining of complex parts through the synergy of a symmetrical turret, a lifting control mechanism, and an adaptive support component.

[0040] Therefore, refer to Figures 1-5 This application proposes a machine tool body 1, on which a turret mechanism, a workpiece fixing mechanism, and a hybrid robot mechanism are arranged sequentially from bottom to top on the side of the machine tool body 1; the turret mechanism includes a lower left turret assembly 2 and a lower right turret assembly 21 symmetrically arranged on both sides of the machine tool body 1, and a lifting control mechanism for controlling the lifting of the lower left turret assembly 2 and the lower right turret assembly 21 is provided on the side of the machine tool body 1; a first linear guide rail 3 is horizontally arranged on the outside of the machine tool body 1 and located below the workpiece fixing mechanism, and two sets of lifting control mechanisms are slidably connected to the first linear guide rail 3 to control the horizontal displacement of the lower left turret assembly 2 and the lower right turret assembly 21; a support assembly is arranged in the middle of the outside of the machine tool body 1, and the support assembly has a support part for supporting the workpiece to be processed located on the workpiece fixing mechanism.

[0041] The machine tool body 1 serves as the basic structural frame supporting all functional modules. It can be constructed using cast iron or welded steel, providing an installation reference for the turret mechanism and workpiece fixing mechanism. The turret mechanism comprises symmetrically distributed lower left turret assembly 2 and lower right turret assembly 21. Specifically, it can be driven by dual servo motors to achieve synchronous machining on both sides. The lifting control mechanism is the actuator controlling the vertical movement of the turret. It can employ a combination of ball screws and linear guides to ensure turret lifting accuracy. The first linear guide 3 refers to the horizontal guiding component, which can be a high-precision roller linear guide to allow the turret assembly to move along the workpiece axis. The support assembly includes a slidingly adjustable support section, which can be a support base 32 with a sliding groove 33 and a clamping module to adapt to the support requirements of workpieces of different lengths.

[0042] Specifically, the machine tool body 1 serves as the structural foundation, integrating various functional modules. The dual-sided turret assemblies achieve precise vertical positioning through a lifting control mechanism, and combined with the horizontal movement function of the first linear guide rail 3, form a multi-axis linkage machining capability in three-dimensional space. When machining long shaft-type parts, after the workpiece fixing mechanism clamps both ends of the workpiece, the support assembly automatically adjusts the support position according to the workpiece length, and the clamping module in the slide groove 33 stabilizes the middle of the workpiece. The lower left turret assembly 2 and the lower right turret assembly 21 can move synchronously or asynchronously along the first linear guide rail 3, adjusting the machining height under the drive of the lifting control mechanism to achieve simultaneous machining of features on both sides of the workpiece. The hybrid robot mechanism, through the chain-type tool magazine 52 and in cooperation with the mobile robot, completes automatic tool changing and auxiliary machining.

[0043] Compared to existing technologies, traditional machine tools using a single-sided turret result in low machining efficiency. This solution achieves simultaneous machining at two stations through a symmetrical dual-sided turret layout, shortening process flow time. Existing support mechanisms lack adaptive adjustment capabilities; this solution's support components, combined with the clamping module via the slide groove 33, can dynamically match workpiece dimensions, reducing manual intervention. Compared to a single vertical lifting mechanism, this solution combines a horizontal guide rail with a lifting control mechanism to form a composite motion trajectory, expanding the machining range. Compared to a fixed support structure, the position of the support section in this solution is adjustable, effectively suppressing deformation during the machining of slender workpieces.

[0044] Through the above technical solutions, this application achieves eight-axis, five-linkage machining capability, with dual-sided turrets capable of independent or collaborative operation, significantly improving the machining efficiency of complex features. The adaptive clamping function of the support components reduces workpiece clamping errors and improves machining accuracy stability. The combined motion mode of the lifting control mechanism and the horizontal guide rail enhances the spatial positioning accuracy of the tool. The collaborative operation of the hybrid robot mechanism and the tool magazine optimizes the tool change path and machining process, improving the level of automation.

[0045] Reference Figures 1-5 This application further proposes a support component including a first sliding seat 31, the first sliding seat 31 being slidably connected to a first linear guide rail 3, a support part being fixedly connected to the first sliding seat 31, the support part including a support seat 32, the support seat 32 being provided with a groove 33, and two sets of arc-shaped clamps 34 being symmetrically slidably connected in the groove 33.

[0046] The first sliding seat 31 is a base structure that forms a movable connection with the linear guide rail through a sliding pair. It can be made of cast iron or welded steel. A slider at its bottom cooperates with the guide rail to achieve low-friction translational movement, supporting the support and adjusting its position along the guide rail. The groove 33 is a guide structure formed on the top surface of the support seat 32. It can be machined in the form of a T-slot or dovetail groove, used to constrain the sliding trajectory of the arc-shaped clamping plate 34 and transmit clamping force. The arc-shaped clamping plate 34 is a movable clamp with an arc-shaped clamping surface matching the outer contour of the workpiece. It can be a split design, with the sliding pair embedded in the groove 33 to symmetrically clamp the workpiece from both sides to prevent radial displacement.

[0047] Specifically, the support assembly achieves axial position adjustment along the workpiece by sliding the first sliding seat 31 to the linear guide rail. When the workpiece length changes, the support seat 32 can move along the guide rail to the lower center of the workpiece, preventing the workpiece from bending due to the support point deviating from the center of gravity. Two sets of symmetrically arranged arc-shaped clamping plates 34 within the slide groove 33 form a radial constraint on the workpiece by sliding towards each other. Their arc-shaped clamping surfaces fit against the outer circle of the cylindrical workpiece, ensuring a uniform distribution of clamping force. During processing, the support seat 32 forms a rigid connection with the sliding seat, resisting vibrations caused by cutting forces through the guiding action of the guide rail, thus maintaining support stability.

[0048] Compared with existing technologies, traditional support mechanisms use fixed ejector pins or manually adjustable support seats 32, which cannot automatically adjust the support position according to the workpiece length. Furthermore, the clamping surfaces are mostly planar structures, which can easily cause localized stress concentration on the workpiece. This solution achieves adaptive adjustment of the support position through the cooperation of a sliding seat and a guide rail. The symmetrical sliding design of the arc-shaped clamping plate 34 and the slide groove 33 can adapt to workpieces of different diameters, eliminating manual adjustment errors and increasing the clamping contact area, effectively suppressing bending deformation during workpiece processing.

[0049] Through the above technical solution, this application can automatically match the support position according to the actual size of the workpiece, and evenly distribute the clamping force through the symmetrically distributed arc-shaped clamping surface to avoid the workpiece from plastic deformation due to excessive local force. At the same time, it can improve the damping effect of the support mechanism on cutting vibration and ensure the shape accuracy and stability of slender shaft parts in the turning and milling composite machining process.

[0050] This application further proposes that a pressure monitoring module be set at the clamping end of the two sets of arc-shaped clamping plates 34, and a first servo motor be set in the slide groove 33 for driving the two sets of arc-shaped clamping plates 34 to slide towards each other.

[0051] The pressure monitoring module is a force sensor installed on or inside the clamping end surface. It can be implemented using a piezoelectric sensor or a strain gauge sensor, and is used to detect the pressure value generated when the clamping surface contacts the workpiece in real time. The first servo motor is a precision drive device connected to the transmission mechanism inside the slide 33. It can be implemented using an AC servo motor with an encoder in conjunction with a ball screw transmission mechanism, and is used to precisely control the synchronous movement speed and displacement of the two sets of arc-shaped clamping plates 34.

[0052] Specifically, during the workpiece clamping process, the first servo motor drives two sets of arc-shaped clamping plates 34 to move towards each other along the slide groove 33 via a transmission mechanism. When the arc-shaped clamping plates 34 contact the workpiece surface, the pressure monitoring module begins to collect clamping force data and transmits the signal to the control system. The control system dynamically adjusts the output torque and speed of the first servo motor according to a preset clamping force threshold, so that the clamping force is always maintained within the set range. If the clamping force is detected to exceed the threshold, the servo motor immediately reverses and finely adjusts the position of the clamping plates to avoid workpiece deformation due to excessive clamping force or workpiece displacement due to insufficient clamping force.

[0053] Compared to existing technologies, current support mechanisms mostly rely on manual adjustment of the clamping plate spacing and lack a clamping force feedback mechanism, causing clamping force control to depend entirely on the operator's experience. This solution achieves real-time monitoring and automatic adjustment of clamping force through pressure monitoring and closed-loop control of the servo motor, eliminating the impact of human operation errors on workpiece positioning accuracy.

[0054] Through the above technical solution, this application effectively solves the problem of workpiece deformation or displacement caused by unstable clamping force in traditional support mechanisms, ensures that slender shaft parts maintain a stable clamping state during processing, avoids surface quality defects caused by cutting vibration, and reduces the frequency of manual intervention, thereby improving processing efficiency and process consistency.

[0055] This application further proposes a workpiece fixing mechanism for a horizontal eight-axis five-linkage milling and turning composite machine tool based on a hybrid robot, including a first fixed seat 4 fixed to the side of the machine tool body 1, and a second fixed seat 41 slidably connected to the machine tool body 1. The first fixed seat 4 and the second fixed seat 41 are horizontally coaxially arranged. The side wall of the machine tool body 1 is provided with a second linear guide rail 42 for controlling the sliding of the second fixed seat 41. Both the first fixed seat 4 and the second fixed seat 41 are provided with bearing seats 43. The two bearing seats 43 are coaxially arranged, and the bearing seats 43 are provided with an installation station 44 for fixing the workpiece to be processed. The first fixed seat 4 or the second fixed seat 41 is provided with a drive motor for driving the installation station 44 to rotate.

[0056] The first fixed seat 4 and the second fixed seat 41 are rigid support structures for clamping the workpiece. They can be implemented using cast or welded steel bases, and their horizontal coaxial arrangement ensures the coaxiality accuracy of the workpiece during rotary machining. The second linear guide 42 is a guide component used to adjust the distance between the second fixed seat 41 and the first fixed seat 4. It can be implemented using a ball screw-driven linear guide to accommodate workpieces of different lengths. The bearing seat 43 is a support component that supports the rotation of the workpiece. It can be implemented using high-precision angular contact ball bearings, and the coaxial arrangement of the two bearing seats 43 eliminates radial runout during workpiece rotation. The mounting station 44 is a clamping interface for fixing the workpiece, which can be implemented using a hydraulic chuck or pneumatic clamp. The drive motor is the power device that drives the workpiece rotation, which can be implemented using a servo motor in conjunction with a planetary reducer to achieve precise indexing during multi-angle machining of the workpiece.

[0057] Specifically, the workpiece is clamped between the mounting positions 44 of the first fixed seat 4 and the second fixed seat 41. The second fixed seat 41 slides along the second linear guide 42 to adjust the distance between it and the first fixed seat 4, thereby accommodating workpieces of different lengths. The two bearing seats 43 are coaxially arranged to ensure the consistency of the workpiece's rotation axis. The drive motor drives one of the mounting positions 44 to rotate through the transmission mechanism, enabling the workpiece to achieve multi-angle positioning during turning or milling. For example, when machining long shaft parts, the second fixed seat 41 can automatically adjust to a suitable position according to the workpiece length, and the drive motor drives the workpiece to rotate continuously to complete peripheral turning, or intermittently index to complete end milling.

[0058] Compared with existing technologies, traditional machine tool workpiece fixing mechanisms are mostly single-sided fixed ejector pins or manually adjustable chucks, which cannot automatically adjust the support spacing according to the workpiece length, and the coaxiality depends on manual calibration. This solution realizes the automatic displacement of the second fixed seat 41 through the second linear guide 42, and combined with the coaxially set bearing seat 43, it can automatically eliminate the workpiece axis deviation during the clamping stage, avoiding the coaxiality deviation problem caused by manual adjustment error.

[0059] This application can automatically adjust the spacing between the fixed seats according to the actual length of the workpiece, reducing the time for manual measurement and adjustment. At the same time, the high-precision coaxial bearing seat 43 ensures the rotational stability of the workpiece and reduces radial runout caused by clamping errors, thereby improving the dimensional consistency of complex parts during multi-process machining.

[0060] This application further proposes a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot. Electronic rulers are provided along the length of the first linear guide rail 3 and the second linear guide rail 42. A first position sensor is provided on the second fixed seat 41, and a second position sensor is provided on the first sliding seat 31. It also includes a controller, which is used to receive the position signal of the first position sensor and control the sliding seat to slide according to the position signal of the first position sensor, so as to move the support part to below the middle of the workpiece to be processed.

[0061] The electronic ruler is a displacement measuring device installed along the length of the guide rail. It can be implemented using a magnetic scale or an optical scale, and is used to detect the displacement of moving parts on the guide rail in real time. The first position sensor is a detection element installed on the second fixed seat 41. It can be a photoelectric sensor or a proximity switch, and is used to detect the position of the second fixed seat 41 relative to the machine tool body 1. The second position sensor is a detection element installed on the first sliding seat 31. It can be a Hall sensor or an encoder, and is used to detect the position of the support. The controller is a control unit with signal processing and logic operation functions. It can be a PLC or an industrial computer, and is used to generate control commands based on sensor signals to drive the sliding seat to move.

[0062] Specifically, when the workpiece is clamped in the mounting position 44 of the fixing mechanism, the second fixed seat 41 slides along the second linear guide 42 to adapt to the workpiece length. The first position sensor detects the displacement of the second fixed seat 41 in real time and transmits the position signal to the controller. The controller calculates the theoretical support position corresponding to the middle of the workpiece based on the position of the second fixed seat 41 and a preset algorithm, and generates a control command to drive the first sliding seat 31 to move along the first linear guide 3. The second position sensor provides real-time feedback on the actual position of the support, and the controller adjusts the sliding seat displacement through closed-loop control until the support is precisely moved below the middle of the workpiece. This process requires no manual measurement or adjustment, achieving adaptive matching between the position of the support and the length of the workpiece.

[0063] Compared to existing technologies, the traditional machine tool support position adjustment relies on manual measurement of the workpiece length followed by manual movement, resulting in time-consuming adjustments and low positioning accuracy. This solution utilizes the collaborative detection of an electronic ruler and position sensor, combined with closed-loop control of the sliding block by a controller, to achieve fully automatic adjustment of the support position. This not only eliminates human error but also significantly shortens workpiece clamping preparation time. It effectively solves the technical challenge of the support position not being able to adaptively adjust during the machining of long-shaft workpieces, ensuring that the support is always precisely positioned below the workpiece's weakest point, suppressing bending deformation caused by cutting vibration. Furthermore, the automated process reduces manual intervention, improving machining efficiency and accuracy stability.

[0064] This application further proposes a horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot. The machine tool body 1 is provided with a turret mechanism, a workpiece fixing mechanism and a hybrid robot mechanism on the side from bottom to top. The hybrid robot mechanism includes a third linear guide rail 5 set above the machine tool body 1, and a robot device 51 is slidably connected on the third linear guide rail 5. A chain-type tool magazine 52 that cooperates with the robot device 51 is provided above the machine tool body 1.

[0065] The third linear guide 5 refers to a high-rigidity guide structure extending longitudinally along the top of the machine tool body 1. Specifically, it can be implemented using a precision roller linear guide, whose load-bearing capacity and guiding accuracy meet the rapid movement requirements of the robot device 51 within the machining area. The robot device 51 refers to a hybrid robotic arm integrating multi-degree-of-freedom motion. Specifically, it can be implemented using a combination of parallel and serial mechanisms, possessing both high rigidity and flexible movement characteristics. The chain-type tool magazine 52 refers to a storage device that arranges tools using a ring chain. Specifically, it can be implemented using a tool holder structure with RFID tag identification function. Each tool holder independently stores tools of different specifications and is circulated and transported via the chain.

[0066] Specifically, the third linear guide 5 extends longitudinally along the top of the machine tool body 1. The robot device 51 forms a sliding pair with the guide rail via a slider, allowing the robot device 51 to move horizontally between the machining area and the tool magazine area. The chain-type tool magazine 52 is arranged on the top side of the machine tool body 1, with multiple tool holders installed at intervals on its circular chain. The tool holders have built-in tool identification sensors to detect the tool type and wear condition. When a tool change is required, the robot device 51 slides along the third linear guide 5 to the tool magazine position, grabs the target tool through the end effector, and at the same time, the tool magazine chain rotates to transport the next tool to be used to the tool change position. During the machining process, the robot device 51 can carry a specific tool to the workpiece machining area, cooperating with the machine tool spindle and tool turret mechanism to achieve multi-process collaborative operation.

[0067] Compared to existing technologies, the serial robots used in current milling and turning centers cannot participate in milling operations due to insufficient rigidity, and the fixed tool-changing paths result in low efficiency. This solution combines a hybrid robot device 51 with high-rigidity guideways, enabling the robot to move quickly while maintaining sufficient rigidity to participate in cutting operations. The coordinated control of the chain-type tool magazine 52 and the robot device 51 achieves accurate tool identification and dynamic path planning, avoiding the risk of incorrect tool changes and shortening tool-changing intervals. This application effectively solves the problem of insufficient rigidity when the robot participates in core machining operations, while improving tool-changing efficiency and tool management accuracy. The coordinated operation of the hybrid robot mechanism and the chain-type tool magazine 52 allows for rapid switching between multiple tools during the machining of complex parts, reducing downtime caused by manual tool changes and achieving continuous automated machining of multiple processes.

[0068] Reference Figures 1-5This application further proposes that the lower left turret assembly 2 and the lower right turret assembly 21 have the same structure, both including a turret body 22, a tool mounting plate 23 and a turret drive module 24; the turret drive module 24 includes a second servo motor and a harmonic reducer, used to drive the tool mounting plate 23 to achieve ±360° rotation indexing, with an indexing accuracy ≤0.001°.

[0069] The turret drive module 24 is the power and transmission unit that controls the rotation of the tool mounting plate 23. Specifically, it can be implemented using a combination of a second servo motor and a harmonic reducer. The servo motor provides rotational power, while the harmonic reducer reduces the motor's output speed and increases torque, while simultaneously eliminating gear backlash to ensure indexing accuracy. An indexing accuracy of ≤0.001° means that when the tool mounting plate 23 stops at any indexing position, the deviation between the actual angle and the theoretical angle does not exceed one-thousandth of a degree. This accuracy is achieved through closed-loop control of the servo motor and the high-rigidity transmission of the harmonic reducer, preventing excessive assembly clearance of multi-tooth parts due to accumulated indexing errors.

[0070] Specifically, the turret drive module 24 outputs rotational power through the second servo motor, which is then reduced in speed and increased in torque by a harmonic reducer before being transmitted to the tool mounting plate 23. The servo motor's built-in encoder provides real-time feedback on the rotation angle, forming a closed-loop control. When a tool needs to be switched, the control system sends an indexing command, driving the tool mounting plate 23 to rotate and position itself at a preset angle. The zero-backlash characteristic of the harmonic reducer eliminates transmission chain backlash, and combined with the precise angle control of the servo motor, ensures that there is no cumulative error during the indexing process. After completing indexing at any angle within a ±360° range, the deviation between the actual stopping position and the target position of the tool mounting plate 23 is controlled within 0.001°, meeting the requirements for high-precision indexing features.

[0071] Compared to existing technologies, traditional turret indexing mechanisms mostly employ worm gears or planetary gear reduction, achieving an indexing accuracy of only 0.005°~0.01°. Furthermore, long-term use leads to accuracy degradation due to gear wear. This solution utilizes a direct drive method involving a servo motor and a harmonic reducer to achieve micron-level angle control while maintaining high torque output. This improves indexing accuracy by an order of magnitude, and the transmission components experience no mechanical wear, resulting in significantly better long-term stability than traditional structures. This application solves the problem of excessive machining tolerances in high-precision indexing features caused by insufficient turret indexing accuracy. Micron-level indexing positioning is achieved through high-rigidity transmission and closed-loop control, ensuring consistent tooth pitch in multi-tooth parts and avoiding assembly interference caused by accumulated indexing errors. Simultaneously, it supports full-circumferential, dead-angle-free tool switching, adapting to multi-angle cutting requirements in complex surface machining.

[0072] Reference Figures 1-5This application further proposes that the tool mounting disk 23 has 8-12 tool stations 25 evenly distributed around its circumference. The tool stations 25 can be adapted to turning tools, milling cutters, drills or taps, and each tool station 25 is equipped with a tool identification sensor.

[0073] The tool station 25 refers to the mounting interface on the tool mounting plate 23 used to fix different machining tools. Specifically, it can be implemented using a standardized tool holder interface combined with a mechanical locking mechanism. Each station is independently equipped with a coolant channel and signal transmission contacts. The tool identification sensor refers to a non-contact radio frequency identification device embedded inside the tool station 25. Specifically, it can be implemented using an RFID reader / writer module in conjunction with an electronic tag built into the tool holder to achieve real-time acquisition and transmission of tool model and wear status information.

[0074] Specifically, the tool mounting plate 23 consists of 8-12 independent stations arranged evenly around the circumference, forming a ring-shaped tool magazine structure. Each station can quickly install different functional tools such as turning tools and milling cutters through a standardized interface, and automatically switch to the required tool according to CNC program instructions during machining. The tool identification sensor reads the tool identification information in real time via wireless radio frequency signals. When it detects that the tool model does not match the preset program or that the tool wear exceeds the threshold, it immediately sends an alarm signal to the control system and suspends the machining process.

[0075] Compared to existing technologies, traditional milling and turning machine turrets typically only have 4-6 tool stations25, requiring frequent machine stops for tool changes when machining complex parts, and lacking tool status monitoring capabilities. This solution increases the number of stations and integrates identification sensors, expanding the types of tools that can be used in a single setup while avoiding process interruptions and the risk of incorrect tool changes caused by manual tool changes. This application achieves rapid switching and accurate identification of multiple tool types, effectively reducing machining interruptions caused by insufficient tool preparation or incorrect tool loading, and improving the efficiency and reliability of continuous machining of complex parts.

[0076] Reference Figures 1-5 This application further proposes a lifting control mechanism including a vertically arranged fourth linear guide rail 6, a second sliding seat 61 slidably connected to the fourth linear guide rail 6, and the turret body 22 fixed to the second sliding seat 61; the lifting control mechanism also includes a balancing component 7, which includes a cylinder, a piston rod slidably connected inside the cylinder, the cylinder being fixed to the bottom of the fourth linear guide rail 6, the end of the piston rod being connected to the second sliding seat 61, and the piston rod output force being 80%-90% of the weight of the lower left turret assembly 2 or the lower right turret assembly 21, used to counteract the influence of gravity on the lifting accuracy.

[0077] The fourth linear guide rail 6 refers to a guide component installed vertically, which can be implemented using a high-rigidity roller guide rail. Its function is to provide a precise vertical movement trajectory for the turret's lifting and lowering. The second sliding seat 61 refers to a moving component that cooperates with the fourth linear guide rail 6. It can be implemented using cast iron or welded steel structure and is used to support the turret body 22 and slide along the guide rail. The balancing component 7 refers to a mechanism used to balance the turret's gravity. It can be implemented using a combination of a cylinder and a piston rod. The cylinder is fixed to the bottom of the guide rail, and the end of the piston rod is connected to the sliding seat. By outputting a constant thrust proportional to the turret's own weight, it counteracts the load effect of gravity on the lifting and lowering drive system.

[0078] Specifically, the fourth linear guide rail 6 is vertically mounted on the side of the machine tool body 1. The second sliding seat 61 forms a sliding pair with the guide rail through a slider. The turret body 22 is fixed to the side of the sliding seat with bolts. The cylinder of the balancing assembly 7 is fixed to the lower end of the guide rail, and the end of the piston rod is connected to the bottom of the sliding seat by a hinge. When the turret moves up and down, the cylinder continuously outputs a thrust equivalent to 80%-90% of the turret's own weight. This thrust is in the opposite direction to the turret's gravity, thus significantly reducing the axial load on the ball screw. This design allows the drive system to overcome only the remaining 10%-20% of the gravity component and friction to achieve the up and down movement, effectively suppressing positioning errors caused by the elastic deformation of the screw, and reducing the impact of movement during the up and down process.

[0079] Compared to existing technologies, current turret lifting mechanisms lack gravity compensation devices, causing the lead screw to easily deform due to the long-term bearing of the entire turret weight, resulting in return stroke errors and vibration issues. This solution uses a balancing component 7 to output a constant thrust proportional to the turret's weight, reducing the axial load on the lead screw to 10%-20% of its original level. This reduces the impact of lead screw deformation on positioning accuracy and avoids vibrations caused by sudden changes in inertial forces during rapid lifting, significantly improving the smoothness and repeatability of the turret's lifting motion. This application effectively solves the problems of lead screw elastic deformation and motion impact caused by the turret's own weight during lifting. By using the balancing component 7 to offset most of the gravity load, the load on the drive system is reduced, thereby improving the vertical displacement accuracy and motion stability of the turret and ensuring that the relative position of the tool and workpiece remains constant during machining.

[0080] Reference Figures 1-5 This application further proposes that the lifting control mechanism also includes a balancing component 7, which includes a cylinder with a piston rod slidably connected inside the cylinder. The cylinder is fixed to the bottom of the fourth linear guide rail 6, and the end of the piston rod is connected to the second sliding seat 61. The output force of the piston rod can be 80% to 90% of the weight of the lower left turret assembly 2 or the lower right turret assembly 21, in order to counteract the influence of gravity on the lifting accuracy.

[0081] The balancing component 7 is a mechanism that counteracts the weight of the turret assembly by applying a reverse force. This can be achieved using a cylinder and piston rod configuration. The cylinder provides a constant thrust as the power source, while the piston rod transmits this thrust to the turret assembly. Setting the piston rod output force ratio to 80% to 90% of the turret assembly's weight means dynamically adjusting the cylinder output force based on the actual weight of the turret assembly. This can be achieved by adjusting the cylinder pressure or piston area. This ratio effectively balances the axial load generated by gravity on the lifting mechanism.

[0082] Specifically, the cylinder is fixedly mounted at the bottom of the fourth linear guide 6, and the end of the piston rod is rigidly connected to the second sliding seat 61 that supports the turret assembly. When the turret assembly moves up and down, the cylinder continuously outputs a thrust in the opposite direction to the weight of the turret assembly, which is set to 80% to 90% of the weight of the turret assembly. This thrust counteracts most of the gravity, and the ball screw only needs to bear the remaining 10% to 20% of the load, thus significantly reducing the elastic deformation of the screw. At the same time, the dynamic balance between gravity and driving force during the lifting process reduces the impact of the movement, making the lifting process of the turret assembly smoother.

[0083] Compared to existing technologies, current turret lifting mechanisms lack a gravity compensation device, requiring the ball screw to bear the full weight of the turret. Long-term operation can easily lead to elastic deformation of the screw and a decrease in positioning accuracy. This application introduces a balancing component 7 to precisely match the cylinder output force to the turret weight, effectively reducing the screw load and avoiding the risk of overshoot caused by completely offsetting gravity. This extends the screw's service life while maintaining lifting accuracy. This application solves the problems of elastic deformation of the screw and motion impact caused by its own weight during turret lifting, improving the vertical positioning accuracy and motion stability of the turret. It is particularly suitable for scenarios requiring high-frequency lifting and machining, ensuring the relative positional accuracy of the tool and workpiece during the machining of complex parts.

[0084] For any parts not mentioned in this utility model, existing technologies can be used or referenced.

[0085] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0086] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot, characterized in that, The machine tool body (1) includes a turret mechanism, a workpiece fixing mechanism, and a hybrid robot mechanism arranged sequentially from bottom to top on the side of the machine tool body (1); The turret mechanism includes a lower left turret assembly (2) and a lower right turret assembly (21) symmetrically arranged on both sides of the machine tool body (1). The side of the machine tool body (1) is provided with a lifting control mechanism for controlling the lifting of the lower left turret assembly (2) and the lower right turret assembly (21). The first linear guide (3) is horizontally set on the outside of the machine tool body (1) and below the workpiece fixing mechanism. The two sets of lifting control mechanisms are slidably connected to the first linear guide (3) to control the horizontal displacement of the lower left turret assembly (2) and the lower right turret assembly (21). A support assembly is located on the outer middle of the machine tool body (1). The support assembly has a support part for supporting the workpiece to be processed located on the workpiece fixing mechanism. The support assembly includes a first sliding seat (31), which is slidably connected to a first linear guide rail (3). The support part is fixedly connected to the first sliding seat (31). The support part includes a support seat (32), which is provided with a slide groove (33). Two sets of arc-shaped clamps (34) are symmetrically slidably connected in the slide groove (33).

2. The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 1, characterized in that, The clamping ends of the two sets of arc-shaped clamps (34) are equipped with pressure monitoring modules, and the slide groove (33) is equipped with a first servo motor for driving the two sets of arc-shaped clamps (34) to slide towards each other.

3. The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 2, characterized in that, The workpiece fixing mechanism includes a first fixing seat (4) fixed on the side of the machine tool body (1) and a second fixing seat (41) slidably connected to the machine tool body (1). The first fixing seat (4) and the second fixing seat (41) are horizontally coaxially arranged. The side wall of the machine tool body (1) is provided with a second linear guide rail (42) for controlling the sliding of the second fixing seat (41). Both the first fixing seat (4) and the second fixing seat (41) are provided with bearing seats (43). The two bearing seats (43) are coaxially arranged, and the bearing seats (43) are provided with an installation station (44) for fixing the workpiece to be processed. The first fixing seat (4) or the second fixing seat (41) is provided with a drive motor for driving the installation station (44) to rotate.

4. The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 3, characterized in that, Electronic rulers are provided in the length direction of the first linear guide (3) and the second linear guide (42), a first position sensor is provided on the second fixed seat (41), and a second position sensor is provided on the first sliding seat (31). It also includes a controller, which is used to receive the position signal of the first position sensor and control the sliding seat to slide according to the position signal of the first position sensor, so as to move the support to below the middle of the workpiece to be processed.

5. The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 3, characterized in that, The hybrid robot mechanism includes a third linear guide rail (5) located above the machine tool body (1), a robot device (51) is slidably connected on the third linear guide rail (5), and a chain-type tool magazine (52) that cooperates with the robot device (51) is located above the machine tool body (1).

6. The horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 1, characterized in that, The lower left turret assembly (2) and the lower right turret assembly (21) have the same structure, both including a turret body (22), a tool mounting plate (23) and a turret drive module (24); the turret drive module (24) includes a second servo motor and a harmonic reducer, used to drive the tool mounting plate (23) to rotate.

7. A horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 6, characterized in that, The tool mounting plate (23) has 8-12 tool stations (25) evenly distributed around its circumference. The tool stations (25) can be adapted to turning tools, milling cutters, drills or taps, and each tool station (25) is equipped with a tool identification sensor.

8. A horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 6, characterized in that, The lifting control mechanism includes a vertically arranged fourth linear guide rail (6), on which a second sliding seat (61) is slidably connected, and the turret body (22) is fixed to the second sliding seat (61).

9. A horizontal eight-axis five-linkage turning and milling composite machine tool based on a hybrid robot according to claim 8, characterized in that, The lifting control mechanism also includes a balancing component (7), which includes a cylinder with a piston rod slidably connected inside. The cylinder is fixed to the bottom of the fourth linear guide rail (6), and the end of the piston rod is connected to the second sliding seat (61). The piston rod output force is used to counteract the influence of the gravity of the lower left turret assembly (2) or the lower right turret assembly (21) on the lifting accuracy.

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