A vertical seven-axis five-association turning and milling combined machine tool based on a hybrid robot

Abstract

The utility model relates to processing machinery technical field especially, it relates to a vertical seven -axis five -series car milling composite machine tool based on hybrid robot, including lathe base, hybrid robot mechanism, multiaxis linkage workstation, the hybrid robot mechanism includes support support and hybrid robot, still include: mechanical telescopic cover, the mechanical telescopic cover symmetry sets up in multiaxis linkage workstation both sides, the mechanical telescopic cover telescopes with the relative movement between multiaxis linkage workstation and lathe base, hybrid robot includes executor adjusting mechanism and support adjusting mechanism, support adjusting mechanism provides three plane degrees of freedom, executor adjusting mechanism provides two rotation degrees of freedom, executor adjusting mechanism and support adjusting mechanism series cooperation and cooperates linkage to realize the motion control of high accuracy in the space multiple degrees of freedom, rigidity is high, dynamic response is fast, work space is big, motion decoupling is clear.

Description

Technical Field

[0001] This utility model relates to the field of machining machinery technology, and in particular to a vertical seven-axis five-axis milling and turning composite machine tool based on a hybrid robot. Background Technology

[0002] A mill-turning machine tool is a highly integrated CNC machining equipment that combines turning and milling functions on a single machine tool, enabling multiple complex machining operations to be completed in a single setup. These machine tools typically feature a multi-axis linkage system, allowing for various machining operations such as turning, milling, drilling, tapping, boring, and even gear hobbing. Mill-turning machine tools are particularly suitable for fields with extremely high precision and complexity requirements, such as aerospace, medical devices, precision instruments, and high-end automotive parts.

[0003] Existing milling and turning machines typically include three-axis two-linkage, four-axis three-linkage, five-axis four-linkage, and even five-axis five-linkage configurations. Most existing milling and turning machines have no more than five linked axes, and their rotational degrees of freedom usually rely on a single oscillating component. When machining parts with complex spatial curved surfaces, deep cavity walls, or irregular rotational features, the actuator (tool) has limited posture adjustment capabilities, easily leading to interference or undercutting. It is difficult to achieve high-precision machining of the entire surface in a single setup, requiring multiple setups or changes of specialized fixtures, reducing efficiency and introducing cumulative errors. Furthermore, while expanding the posture freedom of existing milling and turning machines, they tend to result in longer spindle overhangs, significantly reducing structural rigidity with posture changes. Especially during large-angle tilt machining, cutting forces easily induce vibration and deformation, affecting surface quality and dimensional accuracy. If rigidity is increased by shortening the overhang, effective machining space is sacrificed, making it difficult to adapt to large or tall parts. Utility Model Content

[0004] This application provides a vertical seven-axis five-position turning and milling composite machine tool based on a hybrid robot, adopting the following technical solution: A vertical seven-axis five-position turning and milling composite machine tool based on a hybrid robot includes a machine base, a hybrid robot mechanism, and a multi-axis linkage worktable. The hybrid robot mechanism includes a support bracket and the hybrid robot, and further includes a mechanical telescopic cover symmetrically arranged on both sides of the multi-axis linkage worktable. The mechanical telescopic cover extends and retracts with the relative movement between the multi-axis linkage worktable and the machine base. The hybrid robot includes an actuator adjustment mechanism and a support adjustment mechanism. The support adjustment mechanism provides three planar degrees of freedom, and the actuator adjustment mechanism provides two rotational degrees of freedom. The actuator adjustment mechanism and the support adjustment mechanism are connected in series and work together to achieve precise motion control of multiple degrees of freedom in space.

[0005] Preferably, the hybrid robot mechanism is provided with a protective cover, which is disposed on the side of the hybrid robot mechanism near the multi-axis linkage worktable, and the protective cover is fixedly connected to the machine tool base and the support bracket respectively.

[0006] Preferably, the multi-axis linkage worktable includes a linear feed mechanism and a worktable, the worktable is mounted on the linear feed mechanism and connected to the linear feed mechanism so that the linear feed mechanism drives the worktable to perform linear motion.

[0007] Preferably, the mechanical telescopic cover is located on both sides of the work turntable, one end of the mechanical telescopic cover is fixedly connected to the work turntable, and the other end of the mechanical telescopic cover is fixedly connected to the machine tool base.

[0008] Preferably, the linear feed mechanism includes two sets of linear guide pairs and ball screw pairs. One end of each ball screw pair is equipped with a servo motor. The ball screw pair is disposed between the two sets of linear guide pairs. The worktable is connected to the two sets of linear guide pairs respectively.

[0009] Preferably, a connecting seat is provided at one end of the machine tool base, the connecting seat is integrally connected to the machine tool base, and the support bracket is fixedly connected to the connecting seat.

[0010] Preferably, the machine tool base is provided with chip removal grooves on both sides, and a screw conveyor is provided on the chip removal grooves to discharge the processed chips.

[0011] Preferably, the machine tool base is provided with machine tool functional components, including a tool magazine, which is installed on the side of the machine tool base.

[0012] Preferably, the machine tool base is provided with several foot supports at its bottom.

[0013] Preferably, the top of the support bracket extends at an angle, forming a 45° angle with its bottom, so as to ensure sufficient processing in the vertical direction while also ensuring sufficient movement space in the horizontal direction, thus avoiding interference with the surrounding structure.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This milling and turning composite machine tool introduces a hybrid robot into the machine tool. Through a hybrid collaborative architecture of a support adjustment mechanism and an actuator adjustment mechanism, it achieves high degree of freedom and high precision motion control in space. The support adjustment mechanism provides three planar degrees of freedom, forming basic positioning capabilities, while the actuator adjustment mechanism provides two rotational degrees of freedom, enabling flexible adjustment of the actuator's posture. The two work together to form a five-axis linkage machining capability. Combined with the two degrees of freedom provided by the linear feed mechanism on the multi-axis linkage worktable and the rotary table, the entire machine achieves seven-axis five-linkage. Compared with traditional milling and turning composite machine tools, this milling and turning composite machine tool's hybrid structure combines the advantages of high rigidity and fast dynamic response of the support adjustment mechanism with a large working space and clear motion decoupling of the actuator adjustment mechanism. It is suitable for high-precision milling and turning composite machining of complex curved surfaces, deep cavities, and irregularly shaped parts.

[0015] 2. This milling and turning composite machine tool protects the internal structure of the multi-axis linkage worktable by setting a mechanical telescopic cover to prevent chips and coolant from entering. By setting a protective cover on the side of the hybrid robot mechanism near the worktable, the internal structure of the hybrid robot is effectively protected, which effectively improves the service life of the machine tool. Furthermore, the support bracket is set at a 45° angle, which not only ensures the machining stroke in the vertical direction, but also actively gives up space in the horizontal direction, avoiding interference between the hybrid robot and its own support bracket during machining, and greatly optimizing the workspace.

[0016] 3. This milling and turning machine tool, through its reasonable vertical structural layout and the installation of chip removal troughs and screw conveyors, allows machining chips to fall naturally to the bottom chip removal trough under gravity, and then be automatically removed by the screw conveyor, keeping the working area clean and ensuring machining accuracy and equipment service life. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the accompanying drawings are only some embodiments of this utility model. For those skilled in the art, other embodiments and their accompanying drawings can be obtained from the embodiments shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is the left view of this utility model; Figure 3 This is a top view of the present invention; Figure 4 This is an exploded view of this utility model; Figure 5 This is a schematic diagram of the structure of the hybrid robot mechanism of this utility model; Figure 6 This is a structural schematic diagram of the machine tool base of this utility model; Figure 7 This is a schematic diagram of the structure of the multi-axis linkage worktable of this utility model.

[0019] Reference numerals in the attached drawings: 1. Machine tool base; 101. Connecting seat; 102. Foot support; 2. Hybrid robot mechanism; 201. Support bracket; 202. Hybrid robot; 221. Actuator adjustment mechanism; 222. Support adjustment mechanism; 3. Multi-axis linkage worktable; 301. Linear feed mechanism; 311. Linear guide pair; 312. Ball screw pair; 302. Mechanical telescopic cover; 303. Worktable; 304. Servo motor; 4. Tool magazine; 5. Protective cover; 6. Chip conveyor; 7. Screw conveyor. Detailed Implementation

[0020] The technical solutions of various embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] An embodiment of this utility model provides a vertical seven-axis five-unit turning and milling composite machine tool based on a hybrid robot.

[0024] Example: Figure 1-4As shown: A vertical seven-axis five-position turning and milling composite machine tool based on a hybrid robot includes a machine tool base 1 and a hybrid robot mechanism 2 mounted on the machine tool base 1. The hybrid robot mechanism 2 includes a support bracket 201 and a hybrid robot 202. A multi-axis linkage worktable 3 is provided on the machine tool base 1. Through the coordinated control of the hybrid robot mechanism 2 and the multi-axis linkage worktable 3, seven-axis five-position high-precision composite machining is realized. Figure 5 As shown: The hybrid robot 202 includes an actuator adjustment mechanism 221 and a support adjustment mechanism 222. The support adjustment mechanism 222 provides three planar degrees of freedom, and the actuator adjustment mechanism 221 provides two rotational degrees of freedom. The actuator adjustment mechanism 221 and the support adjustment mechanism 222 are connected in series and work together.

[0025] The support adjustment mechanism 222 includes a base on which three rotating frames are rotatably mounted. These rotating frames are relatively short, easy to manufacture, and have high rigidity. Each rotating frame is equipped with an adjustment device, and each of the three adjustment devices can independently extend and retract. Each adjustment device includes a support arm, a sliding assembly, and a drive unit. One end of the support arm is hinged to the moving platform. The sliding assembly includes a lead screw nut and a lug connected to the lead screw nut, which is rotatably connected to the rotating frame via the lug. The drive unit includes a first motor and a lead screw connected to the output end of the first motor. The first motor is fixed to the support arm, and the lead screw nut is fitted onto the lead screw. A guide rail is provided on the support arm, and a slider corresponding to the guide rail is connected to the lead screw nut. The cooperation structure of the guide rail and the slider forms a guiding system, restricting the lead screw nut to linear movement only in a preset direction. This effectively eliminates radial offset that may occur during lead screw transmission, further ensuring the straightness of the extension and retraction movement of the adjustment device, thereby guaranteeing the accuracy of tool positioning. The actuator adjustment mechanism 221 includes a moving platform and a swivel head assembly for mounting the tool head. The ends of the three adjustment devices are respectively hinged to the moving platform. During machining, the swivel head assembly is transported to the desired machining position through the extension and retraction adjustment of the three adjustment devices. The extension and retraction of the three adjustment devices are calculated by a program. The swivel head assembly includes a rotating bracket and a rotating block rotatably connected to the rotating bracket. A second motor for driving the rotating bracket to rotate is provided on the moving platform. The rotation direction of the second motor shaft is the same as the rotation direction of the rotating bracket. The output end of the second motor is connected to the rotating bracket. A third motor for driving the rotating block to rotate is provided on the rotating bracket. The output end of the third motor is connected to the rotating block through a transmission belt. The second motor and the third motor enable the rotating block to rotate in two degrees of freedom, further improving the machining freedom. The rotating block also has a mounting part for mounting a tool holder.

[0026] The prior art features cited in the above description are only for the purpose of understanding the specific embodiments of this utility model. Those skilled in the art can make equivalent substitutions or adjustments according to actual needs without departing from the essence of this utility model.

[0027] like Figure 6-7 As shown: The multi-axis linkage worktable 3 includes a linear feed mechanism 301 and a worktable 303. The worktable 303 is mounted on the linear feed mechanism 301 and connected to it, enabling the linear feed mechanism 301 to drive the worktable 303 in linear motion. The linear feed mechanism 301 includes two sets of linear guide pairs 311 and ball screw pairs 312. One end of the ball screw pair 312 is equipped with a servo motor 304. The ball screw pair 312 is positioned between the two sets of linear guide pairs 311. The worktable 303 is connected to both sets of linear guide pairs 311. The servo motor 304 drives the ball screw pair 312 to rotate, converting the rotational motion into linear motion of the worktable 303. The two sets of linear guide pairs 311 jointly support the worktable 303, ensuring stability and uniform load distribution during linear motion.

[0028] It also includes a mechanical telescopic cover 302, which is connected to the worktable 303. The mechanical telescopic cover 302 is symmetrically arranged at both ends of the worktable 303. One end of the mechanical telescopic cover 302 is connected to the worktable 303, and the other end is connected to the machine tool base 1, so as to extend and retract with the relative movement between the two. The mechanical telescopic cover 302 adopts a symmetrical layout structure, with both ends connected to the worktable 303 and the machine tool base 1 respectively. It extends and retracts in real time with the linear movement of the worktable 303, effectively covering the gap between the worktable 303 and the hybrid robot mechanism 2, preventing machining debris and coolant from entering the critical component area, and playing a dynamic protection role.

[0029] The hybrid robot mechanism 2 is equipped with a protective cover 5, which is located on the side of the hybrid robot mechanism 2 near the multi-axis linkage worktable 3. The protective cover 5 is fixedly connected to the machine tool base 1 and the support bracket 201. The protective cover 5 effectively prevents machining debris and coolant from splashing into the hybrid robot mechanism 2, thus preventing damage to its components. It effectively extends the service life of the equipment and reduces maintenance costs, and avoids the impact of debris and impurities on transmission accuracy and rotation accuracy, thereby improving machining accuracy and quality.

[0030] A connecting seat 101 is provided at one end of the machine tool base 1, and the connecting seat 101 is integrally connected to the machine tool base 1. The support bracket 201 is fixedly connected to the connecting seat 101. The support bracket 201 is fixedly connected to the connecting seat 101 by conventional mechanical connection means, including but not limited to bolts, flat keys, or other means that can reliably fix the two together. Those skilled in the art can choose an appropriate fixed connection method according to actual installation requirements. The specific connection form does not limit the protection scope of this utility model. The key is to ensure the connection strength and structural stability between the support bracket 201 and the connecting seat 101.

[0031] The machine tool base 1 has chip removal grooves 6 on both sides, and a screw conveyor 7 is installed on the chip removal grooves 6. The screw conveyor 7 is used to discharge the processed chips. The chip removal grooves 6 and the screw conveyor 7 work together to transport the chips in a designated direction, so as to achieve continuous and efficient discharge of processed chips and keep the machine tool working area clean.

[0032] The machine tool base 1 is provided with machine tool functional components, including a tool magazine 4, which is installed on the side of the machine tool base 1.

[0033] The machine tool base 1 has several foot supports 102 at its bottom.

[0034] The top of the support bracket 201 extends at an angle, and the top of the support bracket 201 forms a 45° angle with its bottom. The 45° inclined structure of the support bracket 201 balances the vertical machining stroke requirements and the horizontal operating space limitations through geometric design. This ensures that the tool has sufficient feed depth in the vertical direction and provides a larger range for the horizontal movement of the hybrid robot mechanism 2, avoiding interference with the surrounding structure.

[0035] The support bracket 201 includes a bracket body for mounting the hybrid robot 202. The bracket body includes a vertical bracket and a horizontal beam. Two vertical brackets are arranged opposite each other, and the horizontal beam is fixedly connected between the two vertical brackets. The telescopic arm assembly is mounted on the horizontal beam. The vertical bracket includes an integrally formed vertical block and an inclined block. The side end of the horizontal beam is fixedly connected to the inclined block, and the lower end of the inclined block is integrally connected to the upper end of the vertical block. The extension direction of the vertical block is perpendicular to the horizontal plane, and the extension direction of the inclined block forms an angle A with the horizontal plane, which is 45°. The inclination angle of the horizontal beam is the same as the inclination angle of the inclined block, that is, the horizontal beam also forms the aforementioned angle A with the horizontal plane. The angle A is 45°, which is a reasonable angle to avoid the inclination angle being too large or too small. If the angle A is too small (the horizontal beam tends to be horizontal), the vertical stroke of the tool oscillating head of the telescopic arm assembly will be short, limiting processing. If the angle is too large (the horizontal beam tends to be vertical), the horizontal displacement stroke will be small.

[0036] The prior art features cited in the above description are only for the purpose of understanding the specific embodiments of this utility model. Those skilled in the art can make equivalent substitutions or adjustments according to actual needs without departing from the essence of this utility model.

[0037] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and not restrictive in all respects. The scope of this invention is defined by the appended claims, not by the foregoing description, and is therefore intended to encompass all variations falling within the meaning and scope of equivalents of the claims. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vertical seven-axis five-unit turning and milling composite machine tool based on a hybrid robot, comprising a machine tool base (1), a hybrid robot mechanism (2), and a multi-axis linkage worktable (3), wherein the hybrid robot mechanism (2) comprises a support bracket (201) and a hybrid robot (202). Its features are: Also includes: Mechanical telescopic cover (302) is symmetrically arranged on both sides of the multi-axis linkage worktable (3). The mechanical telescopic cover (302) extends and retracts with the relative movement between the multi-axis linkage worktable (3) and the machine tool base (1). The hybrid robot (202) includes an actuator adjustment mechanism (221) and a support adjustment mechanism (222). The support adjustment mechanism (222) provides three planar degrees of freedom, and the actuator adjustment mechanism (221) provides two rotational degrees of freedom. The actuator adjustment mechanism (221) and the support adjustment mechanism (222) are connected in series and work together.

2. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The hybrid robot mechanism (2) is provided with a protective cover (5). The protective cover (5) is located on the side of the hybrid robot mechanism (2) near the multi-axis linkage worktable (3). The protective cover (5) is fixedly connected to the machine tool base (1) and the support bracket (201) respectively.

3. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The multi-axis linkage worktable (3) includes a linear feed mechanism (301) and a worktable (303). The worktable (303) is mounted on the linear feed mechanism (301) and connected to the linear feed mechanism (301) so that the linear feed mechanism (301) drives the worktable (303) to perform linear motion.

4. The vertical seven-axis five-position turning and milling composite machine tool according to claim 3, characterized in that: The mechanical telescopic cover (302) is located on both sides of the work turntable (303). One end of the mechanical telescopic cover (302) is fixedly connected to the work turntable (303), and the other end of the mechanical telescopic cover (302) is fixedly connected to the machine tool base (1).

5. The vertical seven-axis five-position turning and milling composite machine tool according to claim 3, characterized in that: The linear feed mechanism (301) includes two sets of linear guide pairs (311) and ball screw pairs (312). One end of the ball screw pair (312) is equipped with a servo motor (304). The ball screw pair (312) is located between the two sets of linear guide pairs (311). The worktable (303) is connected to the two sets of linear guide pairs (311) respectively.

6. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The machine tool base (1) is provided with a connecting seat (101) at one end. The connecting seat (101) is integrally connected to the machine tool base (1), and the support bracket (201) is fixedly connected to the connecting seat (101).

7. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The machine tool base (1) is provided with chip removal grooves (6) on both sides, and a screw conveyor (7) is provided on the chip removal grooves (6). The screw conveyor (7) is used to discharge the processed chips.

8. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The machine tool base (1) is provided with machine tool functional components, including a tool magazine (4), which is installed on the side of the machine tool base (1).

9. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The machine tool base (1) has several foot supports (102) at its bottom.

10. The vertical seven-axis five-position turning and milling composite machine tool according to claim 1, characterized in that: The top of the support bracket (201) extends at an angle, and the top of the support bracket (201) forms a 45° angle with its bottom, so as to ensure that there is sufficient processing in the vertical direction while ensuring sufficient movement space in the horizontal direction, and to avoid interference with the surrounding structure.

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