Four-axis linkage eight-spindle high-speed CNC automation system based on X-PRIME platform

Abstract

The utility model discloses a four -axis linkage eight main shaft high -speed CNC automation system based on X PRIME platform, including the eight main shaft high -speed processing equipment with four -axis linkage control structure, this processing equipment includes the fixed workstation structure of application in each main shaft base and tailstock, this workstation adopts the integral type built -in single -action pneumatic cylinder structure of cancelling T type groove mode, wherein the cylinder with two the piston rod left and right symmetry horizontal insertion of inside diameter, this workstation integrated two -way cam drive clamping mechanism, the cylinder is under 5kgf / cm 2 The two -way clamping force of more than 260kgf can be realized under the condition of gas pressure, the clamp on the workstation is fixed through 4 point conical positioning pin mode to realize the repeat positioning accuracy within 3mu m, and there is no external cylinder on the upper and side of the clamp, the workstation can realize 180 degree rotation under the low gravity center state, has the four -axis mechanism of the upper and lower inclined surface that can process simultaneously, two two -way cam drive clamping mechanisms on the workstation are equipped with 2 cam clamps respectively.

Description

Technical Field

[0001] This utility model relates to the field of CNC machining platform technology applicable to high-speed, high-precision, and high-performance metal processing needs, and in particular to a four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform. It is applicable to high-precision machining processes such as smart watch shells, smartphone frames, earphone hinges, e-book shells, and bio-implantable medical components (such as Ti-6Al-4V titanium alloy and SUS316L stainless steel), which have miniaturized, complex curved surface structures and require repeatability positioning accuracy within 3μm. Background Technology

[0002] The existing machining processes for complex-shaped precision metal parts such as smartphone frames, smartwatch cases, wearable devices, and hinges have been mainly built around single-spindle universal tapping centers (VMC) based on BT30 tool holders since Apple first introduced metal casings for the iPhone 4 series in 2010.

[0003] Typical high-speed, small-sized machining centers, such as those from the FANUC and BROTHER series, are usually used for machining small to medium-sized aluminum and titanium alloy housings within a rated speed range of S13,500 to S19,500 rpm. However, in multi-spindle high-speed machining and long-term high-speed unmanned machining environments, machines using BT30 toolholders have the following limitations in terms of structure, control logic, and process operation:

[0004] 1. The number of tools is limited by the outer diameter of the turret-type tool magazine. Traditional turret-type tool magazines are generally designed with 14 to 21 fixed tool positions, which is constrained by the overall shape of the equipment and the Y-axis interference distance, limiting their scalability. Especially when combined with a composite AGV to achieve unmanned automated machining, the limitation on the number of tools severely restricts the automatic response capability of tool life management and spare tools. In addition, although the ISO25 small tool holder, which is suitable for high-speed rotation, is significantly better than the BT30 in terms of spindle stability, center offset control, and vibration tolerance, the original equipment design is geared towards a general-purpose platform. Due to the limitations of the tool holder mounting foundation and the diameter structure of the tool magazine, it is actually impossible to assemble more tools, thus making it difficult to meet the requirements of high-speed and high-precision machining.

[0005] 2. Low efficiency of automated linkage makes it difficult to meet the needs of unmanned continuous production. Although existing single-spindle tapping centers can be retrofitted with a 4-axis linkage tilting worktable, in reality, only one set of rotary axis structures can be expanded. This makes it difficult to optimize the AGV's movement path and cycle time in a multi-machine linkage environment, resulting in limitations on the implementation of advanced control logic such as automatic fixture recognition, coordinate consistency, tool life management, and spare tool switching, leading to a lag in the level of machining automation. Especially in the 180° fixture flipping operation, the traditional external cylinder clamping structure is used, usually with 2 to 4 cylinders configured horizontally and mounted on the worktable. To avoid interference, the base height needs to be increased, which causes the 4-axis rotation center to shift upward, resulting in structural problems such as increased vibration at high speeds and decreased repeatability.

[0006] 3. High-speed, high-precision machining is difficult when dealing with complex shapes and tiny cutting tools; precision parts such as smartwatch casings, mobile phone frames, e-book covers, and hinges mostly have a wall thickness of less than 10mm, and typically use... Ultra-small diameter end mills are used for high-speed precision machining. However, due to the limitations of the BT30 tool holder's flange diameter, taper stability, and clamping rigidity, it is prone to eccentric vibration under high-speed conditions, causing a series of quality problems such as tool deviation, tool breakage, and abnormal workpiece dimensions. Taking the machining of smartphone frames as an example, to achieve effective removal rate and stable feed rate, a spindle speed of at least S24,000 rpm is required. However, most general-purpose BT30 machining platforms currently only support the S16,000 to 24,000 rpm range, and the actual effective speed is even lower due to heat generation and thermal drift during continuous operation, making it difficult to guarantee machining efficiency.

[0007] 4. Structural thermal displacement accumulation under high-speed continuous operation conditions; the main structure of the BT30 platform equipment is generally constructed of cast iron, whose coefficient of thermal expansion α≈1.2×10 -5 (1 / ℃), there is a structural bottleneck in terms of thermal stability. Even with a spindle cooling system, under continuous high-speed operation with a temperature rise of ΔT = 15℃, the theoretical thermal displacement ΔL ≈ 0.130mm is calculated based on a column length of 800mm. This type of structural thermal displacement will lead to a series of quality problems such as misalignment of the reference coordinate system between multiple spindles, increased repeatability error of the fixture, Z-axis zero-position offset, and fluctuation of finished product dimensional tolerances. It simply cannot meet the requirements of a high-precision fixture assembly platform with repeatability accuracy below ±3μm.

[0008] In summary, the structural bottlenecks of traditional general-purpose CNC platforms are insufficient to meet the growing demands for high-speed, high-precision, and unmanned manufacturing in the field of intelligent devices. Therefore, a new technology is needed to address these issues. Utility Model Content

[0009] In view of this, the present invention addresses the deficiencies of the existing technology and its main purpose is to provide a four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform, aiming to fundamentally solve the bottleneck problems in structure, control and automation of the existing single-spindle vertical machining center (VMC) based on BT30.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform includes an eight-spindle high-speed machining equipment with a four-axis linkage control structure. This machining equipment includes a fixed worktable structure for each spindle head and tailstock. The fixed worktable structure adopts an integrated built-in single-acting cylinder structure that eliminates the T-slot design, wherein the inner diameter is... Cylinders and two The piston rods are inserted horizontally and symmetrically; the fixed worktable structure integrates a bidirectional cam-driven clamping mechanism; the cylinder operates at 5 kgf / cm². 2 Under pneumatic conditions, a bidirectional clamping force greater than 260 kgf can be achieved; the fixture on the fixed worktable structure is fixed by a 4-point conical positioning pin to achieve a repeatability positioning accuracy within 3 μm, and there are no external cylinders on the top and sides of the fixture; the fixed worktable structure can achieve 180° rotation in a low center of gravity state and has a four-axis mechanism that can simultaneously process the upper and lower inclined surfaces; the two bidirectional cam-driven clamping mechanisms on the fixed worktable structure are each equipped with 2 cam clamps.

[0012] This utility model is based on the X-PRIME platform architecture, integrating mechatronics design, automated control protocol, structural thermal suppression, fixture precision alignment structure, automatic tool changing logic and predictive maintenance algorithm. It overcomes the structural limitations of existing CNC machining centers and helps to realize the "high-speed-high-precision-unmanned" metal processing system architecture required for the next generation of intelligent manufacturing.

[0013] This invention provides a highly integrated manufacturing solution for high-speed unmanned production lines for high-precision metal parts such as smartwatches, smartphone frames, hinges, and medical implants. It has significant industrial application value and technological influence in terms of the high integration of multi-axis CNC system structure, control, and automation.

[0014] This invention features eight parallel spindles based on four-axis linkage control and employs an ultra-compact elliptical chain rotary tool magazine with a radius not exceeding 110mm, capable of holding more than 40 tools within the ISO25 tool holder specification. Furthermore, with the spindles linearly arranged along the X0·Y0 origin, automatic tool changing for all eight spindles can be completed within 4 seconds without tool interference, simply by moving up and down along the Z-axis. Under this structure, the tool changing time for a single spindle is 4 seconds, and when all eight axes change tools simultaneously, the tool-to-tool time is 4 seconds ÷ 8 = 0.5 seconds per spindle, exceeding the world's fastest tool changing performance of 0.6 to 0.7 seconds per tool for Brother high-speed tapping centers.

[0015] This utility model adopts a low center of gravity integrated four-axis tilting worktable design, and integrates a 60mm diameter double-core cylinder bidirectional cam drive clamping mechanism inside the spindle seat and tailstock, so that the fixture can be directly installed on the central axis of the worktable, and the tapered positioning pin forms a tapered alignment mechanism to ensure structural repeatability positioning accuracy.

[0016] This invention integrates eight parallel spindles under four-axis linkage control into the same device, ensuring that the AGV robotic arm can complete the automatic response of multiple grippers in one stroke. By constructing a CNC-MES-AGV-3D Vision closed-loop control architecture and installing identification markers inside the device, the entire process of automatic tooling identification, multiple gripper replacement, marker and gripper cleaning routines, and coordinate system automatic reset is achieved, thus realizing fully unmanned operation.

[0017] This invention introduces a granite thermal displacement suppression frame, which fundamentally shields the thermal expansion effect, and can maintain the consistency of repeatability accuracy to the maximum extent even under high-speed and long-term unattended processing conditions.

[0018] This invention addresses the external metal components of devices such as smartwatch shells and smartphone frames, as well as small frame products, which require a repeatability of fixture positioning accuracy of no more than ±3μm in a high-speed, unmanned machining environment. It proposes a precision machining integrated CNC automation system with a four-axis controlled tilting worktable and an eight-spindle parallel control structure.

[0019] This utility model has significant advantages and beneficial effects compared with the prior art:

[0020] This invention technically overcomes the systemic bottlenecks of existing single-spindle general-purpose CNC machining centers (Tapping Center, VMC) with the BT30 architecture from three aspects: structure, control, and automation. Furthermore, by realizing a multi-spindle parallel machining system and a closed-loop unmanned automated production line, it achieves the following specific technical effects:

[0021] 1. Production efficiency innovation in high-speed unmanned precision machining: By integrating eight parallel spindles into a four-axis linkage tilting worktable, the machining efficiency of a single-axis VMC device is increased by more than 8 times (e.g., the traditional single-axis CNC machining time is 40 minutes → the standard time of this utility model device is 5 minutes). It adopts high-speed rotary tool holders of ISO25 specification (rated speed S28,000~32,000rpm) and ultra-small elliptical rotary tool magazines (more than 10 tools) with a diameter of less than 110mm. The rotary tool magazine has an adjustable length design, supports automatic replacement of tools with multi-process tool requirements and lifespan dispersion. By setting the machine origin in the X-axis direction of the spindle center, setting the tool change position in the Y-axis direction, and achieving the shortest path vertical movement in the Z-axis, simultaneous tool changing of eight axes is achieved. The tool-to-tool change time is 4 seconds, and the average time for eight-axis synchronous tool changing is 0.5 seconds / axis.

[0022] 2. Adopt the following The cylinders are directly mounted on the spindle and tailstock of the four-axis tilting worktable, and cam clamps are configured in two symmetrical directions to completely avoid interference with the movement of the AGV arm. At the same time, the low center of gravity structure can be maintained when the fixture rotates 180°. The repeatability of each fixture is achieved by a four-conical positioning pin structure, and the repeatability of the fixture is controlled within ±3μm. The Zero Point structure combined with the built-in cam clamps in the tailstock ensures the low center of gravity of the fixture for rotational machining and anti-vibration performance, and completely solves the problem of interference with the AGV arm. The whole structure adopts a natural granite column frame. Under the condition of assembling an eight-axis spindle, with the dimensions of the machining equipment column and frame set at 800mm, the theoretical thermal expansion ΔL ≤ 0.076mm under the condition of temperature rise ΔT = 15℃. Compared with traditional cast iron, the thermal displacement suppression rate is improved by 41.5%, and the average error of the eight-axis distribution is controlled within 0.0095mm (actual measurement can control it below 5μm).

[0023] 3. Automation Platform Integration and Unmanned Production Line Operation Optimization: Based on the integrated closed-loop control architecture of CNC-MES-AGV-3D Vision, the entire process is unmanned, from fixture status recognition → automatic workpiece coordinate integration → automatic loading / unloading → automatic cleaning. A single AGV can independently correspond to eight parallel fixture positions, significantly improving equipment space utilization and synchronous processing capabilities. When using a four-axis tilting worktable for synchronous processing of inclined surfaces, the processing time can be increased by 2 to 3 times. Therefore, a single AGV can control multiple eight-axis machines (for example, if the overall processing time is 50 minutes and the AGV takes about 10 minutes to complete all processes, then one AGV can control up to 5 eight-axis machines, equivalent to the unmanned efficiency of 40 traditional single-axis machines). The automatic cleaning cycle (automatic switching between high-pressure coolant, gas, and alcohol) applied during the AGV loading process thoroughly cleans residual chips and coolant after processing, improving the recognition rate and positioning accuracy of the 3D vision system.

[0024] 4. Predictive Maintenance and Enhanced Quality Traceability: Information such as the ID, lifespan, replacement records, fixture status, and clamping force of each tool is automatically recorded and a complete database is established in conjunction with the MES system, supporting the full-process data traceability management system of SPC quality control system, third-party certification, and SQA factory audit.

[0025] 5. Industrial Applicability and Scalability Benefits: This utility model is applicable to the large-scale, high-speed processing of the following high-precision small parts: metal casings for smartwatches, mid-frames for smartphones (metal materials: aluminum, titanium, stainless steel), metal casings for hinges / connectors, e-readers, wearable devices, earphone shells, and bio-implantable medical metal parts (Ti-6Al-4V, SUS316L, etc.); by structurally improving production efficiency, processing accuracy, and automation levels, this system can serve as a core equipment platform for next-generation intelligent manufacturing production lines, possessing a globally leading technological competitive advantage.

[0026] To more clearly illustrate the structural features, technical means, and specific objectives and functions of this utility model, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the overall structure of an embodiment of this utility model;

[0028] Figure 2 This is a front view of the processing equipment according to an embodiment of the present utility model;

[0029] Figure 3 This is a partial three-dimensional structural schematic diagram of the processing equipment according to an embodiment of the present utility model;

[0030] Figure 4 This is a partial structural side view of the processing equipment according to an embodiment of the present utility model;

[0031] Figure 5 This is a front view of another part of the structure of the processing equipment according to an embodiment of the present utility model;

[0032] Figure 6 This is a partial structural side view of the processing equipment according to an embodiment of the present utility model;

[0033] Figure 7 This is a partial three-dimensional structural schematic diagram of the processing equipment according to an embodiment of the present utility model;

[0034] Figure 8 This is a three-dimensional schematic diagram of a six-wheeled composite AGV according to an embodiment of the present invention;

[0035] Figure 9 This is a three-dimensional schematic diagram of a four-axis tilting worktable according to an embodiment of the present utility model;

[0036] Figure 10 This is a three-dimensional schematic diagram of the four-axis tilting table after it has been rotated 180° according to an embodiment of the present invention.

[0037] Figure 11 This is an exploded view of a four-axis tilting worktable according to an embodiment of the present invention.

[0038] Figure 12 This is a cross-sectional schematic diagram of a four-axis tilting worktable according to an embodiment of the present invention;

[0039] Figure 13 This is a sequence diagram of the AGV-CNC-MES linkage closed-loop automation control according to an embodiment of this utility model;

[0040] Figure 14 This is a flowchart illustrating the presence or absence of a determination signal in a clamp based on an I / O sensor, according to an embodiment of this utility model.

[0041] Figure 15 This is a structural diagram of an automatic calibration system for marker coordinates based on 3D vision recognition, according to an embodiment of this utility model.

[0042] Figure 16 This is a software working logic diagram of an embodiment of the present utility model;

[0043] Figure 17 This is a cache working logic diagram of an embodiment of the present invention;

[0044] Figure 18 This is a camera working logic diagram of an embodiment of the present invention. Detailed Implementation

[0045] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this utility model. This utility model is mainly applicable to, but not limited to, smartwatch shells, smartphone frames, earphone hinges, e-book shells, and bio-implantable medical components (such as Ti-6Al-4V titanium alloy and SUS316L stainless steel), etc., and features miniaturized, complex curved surface structures, requiring high-precision machining processes with repeatability accuracy within 3μm.

[0046] Please refer to Figures 1 to 18 As shown, it illustrates the specific structure of an embodiment of the present invention.

[0047] A four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform includes an eight-spindle high-speed machining equipment 10 with a four-axis linkage control structure. The machining equipment 10 includes a fixed worktable structure for each spindle head 20 and tailstock 30. This fixed worktable structure adopts an integrated built-in single-acting cylinder structure that eliminates the T-slot design, wherein the inner diameter is... Cylinder 40 and two The piston rod 50 is inserted horizontally and symmetrically on both sides; the fixed worktable structure integrates a bidirectional cam-driven clamping mechanism 60; the cylinder 40 operates at 5 kgf / cm². 2 Under pneumatic conditions, a bidirectional clamping force greater than 260 kgf can be achieved; the fixture 70 on the fixed worktable structure is fixed by a 4-point tapered positioning pin 105 to achieve a repeatability positioning accuracy within 3 μm, and there are no external cylinders on the top and sides of the fixture 70; the fixed worktable structure can achieve 180° rotation in a low center of gravity state and has a four-axis mechanism that can simultaneously process the upper and lower inclined surfaces; the two bidirectional cam-driven clamping mechanisms 60 on the fixed worktable structure are each equipped with two cam clamps 61.

[0048] The automatic tool changer configured in the machining equipment 10 is a rotary tool magazine 80 based on an elliptical linkage structure. The rotary tool magazine 80 is equipped with more than 40 ISO25 standard tool holders 81, arranged via servo indexing. During tool changing, the spindle 11 of the machining equipment 10 does not need to move in the X or Y axis directions; it only needs to move vertically up and down along the Z-axis centerline, with an average tool-to-tool change time of less than 4 seconds. The elliptical linkage structure achieves modular expansion by configuring expandable tapping holes in units of two tool positions. Compared with existing pallet-based systems, the X / Y axis movement distance is reduced by ≥51%. It is also specially designed to expand the tool 82 capacity in units of two tool holders, allowing for rapid addition of tools 82 through fixed tapping holes. Furthermore, a tool sensor 83 is configured on one side of the fixed worktable structure. The tool sensor 83 can be used for automatic calibration of the tool 82 length, with a measurement accuracy controlled within ±0.005mm.

[0049] The rotary tool magazine 80 performs tool-to-tool tool 82 exchange only by moving the spindle 11 of the machining equipment 10 up and down along the Z-axis. During tool 82 replacement, the spindle 11 of the machining equipment 10 does not move along the X and Y axes, always remaining at a fixed origin. Quick replacement is achieved only by moving the spindle 11 up and down within an 80mm range along the Z-axis. The radius of the rotary tool magazine 80 is less than R110. The rotary tool magazine 80 is constructed with an elliptical multi-joint linkage structure and is a modular structure, allowing for expansion of the number of tools 82, adjustment of slots and linkage spacing, to provide the structural flexibility required for multi-process production and tool 82 life management, enabling long-term unattended machining. The rotary tool magazine 80 has preset threaded holes and supports linkage expansion, with tool positions expandable in units of 2. The rotary tool magazine 80 is configured with 40 tool positions, which can be expanded by 2 tool positions each time. The rotary tool magazine 80 is installed in the opposite direction to the servo motor on the four-axis tilting table 106, and a door is installed. Each spindle 11 is aligned with the center of the tool magazine and the Z-axis under the reference of the X / Y origin, and tool changing is performed only by moving up and down the Z-axis. During the tool changing process, the spindle 11 keeps its X / Y position unchanged.

[0050] The rotary tool magazine 80 includes a rotary or elliptical linkage-based multi-joint rotary mechanism; the radius of the tool position array does not exceed half the width of the tray-type tool magazine's X-axis, resulting in a compact structure that enables interference-free, efficient tool changing and high-speed rotation.

[0051] The aforementioned four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform also includes a six-wheeled composite AGV 101 equipped with a collaborative robot system 90. The AGV is linked with the fixture workstation of the processing equipment 10. The workstation is equipped with a series proximity sensor, which is identified as "fully loaded" when all eight fixtures 70 on the workstation are in position. An eight-channel parallel sensor is configured on the workstation loading fixtures 70, and each sensor transmits data to the AGV control module in real time through a digital I / O port. The system is used to automatically detect the status of the fixtures 70 and use it as a basis for AGV judgment. The AGV aligns and calibrates the equipment reference coordinate system with the body motion coordinate system. When all fixture slots 70 on the workstation are empty, the 3D vision system 102 scans the marks fixed on the fixture tray. The AGV only performs clamping / unloading operations when the AGV meets the position alignment condition within ±0.05mm. The AGV achieves automated control through a closed-loop communication structure between MES and AGV. Here, the AGV is linked with the fixture station that combines proximity sensors and a 3D vision system 102. The AGV only determines whether the fixture 70 is loaded or whether there is an unloading empty space when the position alignment error is ≤ ±0.05mm. The AGV then autonomously executes the automatic sequence of loading and unloading the fixture 70.

[0052] Four high-pressure multi-functional nozzles 103 arranged at 90° intervals are installed around each spindle 11 of the processing equipment 10. After processing, the high-pressure multi-functional nozzles 103 perform cleaning operations using an automatic switching system based on solenoid valves by switching commands in the CNC program for M08 (cutting fluid), M07 (compressed air), and a mixture of alcohol and compressed air. Non-contact high-pressure cleaning is achieved under the M code sequence of CNC program M330, M08, M07, M09, etc. When the spindle 11 of the processing equipment 10 is stationary, the high-pressure multi-functional nozzles 103 can perform non-contact cleaning during Y-axis movement. The objects cleaned by the high-pressure multi-functional nozzles 103 include markings, fixtures 70, and the front of the product. After the cleaning operation, the AGV will continuously execute the automatic fixture 70 changing sequence.

[0053] When the M330 command is sent, the AGV will automatically enter the waiting position 120 seconds before the end of processing; the cutting fluid supply will be interrupted after receiving the M09 signal; the M07 command will trigger the start of the compressed air mode; the cleaning range covers the fixture 70, the workpiece and the visual markings; then the AGV will continuously execute the unloading and new fixture loading sequence.

[0054] The high-pressure multi-functional nozzle 103 is linked to the G00 high-speed movement command. Even if the spindle 11 stops rotating, the four high-pressure multi-functional nozzles 103 can still spray compressed air during the Y-axis movement. The high-pressure multi-functional nozzle 103 can remove chips, oil mist and dust from the workpiece or fixture 70 and maintain the recognition accuracy of the 3D vision for the mark.

[0055] The fixtures 70 are all fixed to the Zero-Point alignment plate 104 on the fixed workbench structure; the bottom surface of the fixtures 70 is precisely fixed by two tapered positioning pins 105 on each side; the cam clamp 61 can be quickly released within a stroke of less than 10mm, and the repeatability is controlled within 3μm; there are no external cylinders around the fixtures 70, so as to be suitable for the unmanned automatic repetitive processing environment of AGV.

[0056] The column 12 and frame 13 of the processing equipment 10 are made of granite; the coefficient of thermal expansion α of the column 12 and frame 13 is 6.3 × 10⁻⁶ under the condition that the reference length is 800 mm. -6 / ℃, the thermal displacement when the temperature rises by ΔT=15℃ is ΔL≤0.076mm; the average thermal deviation of the processing equipment 10 based on the eight spindles 11 is limited to below 0.9μm; the columns 12 and frame 13 made of granite material can achieve a thermal displacement suppression effect of more than 41.5% compared with cast iron material.

[0057] The fixed worktable structure is an inclined worktable 106, which adopts a symmetrical low center of gravity structure consisting of a front and rear cam clamp 61. When the A-axis rotates ±180°, the center of gravity of the clamp 70 on the inclined worktable 106 does not shift and always remains in the center of the inclined worktable 106. Even when rotated to 0° or 180°, the height of the clamp 70 remains low, thereby suppressing vibration and maintaining repeatability accuracy during high-speed machining. The upper surface of the inclined worktable 106 is composed of alignment reference holes and high-precision machining surfaces. This inclined worktable 106 can suppress resonance and vibration during high-speed machining.

[0058] The bidirectional cam-driven clamping mechanism 60 includes a cylinder 40 embedded inside the main shaft seat 20 or the tailstock 30; the cylinder 40 has two piston rods 50 embedded inside; the two piston rods 50 achieve bidirectional movement by being linked with the cam drive shaft 107; or, the cylinder 40 may contain more than two piston rods 50, which are linked with the piston rods 50 by a non-cam-driven linkage or lever structure; the bidirectional cam-driven clamping mechanism 60 has equivalent functions and effects.

[0059] The high-pressure multi-functional nozzle 103 mounted on the spindle 11 can automatically switch between three modes to spray cutting fluid, compressed air, alcohol, or other media mixtures. The high-pressure multi-functional nozzle 103 performs multiple tasks such as cleaning, cooling, and dust removal. When cleaning markings, the high-pressure multi-functional nozzle 103 can spray a mixture of alcohol and compressed air. In diamond cutting processes or unmanned machining environments, the high-pressure multi-functional nozzle 103 can maintain stable repeatability through cleaning, thus forming a multi-functional nozzle structure.

[0060] like Figure 13 As shown in the AGV–CNC–MES linkage closed-loop automation control sequence diagram, it should be noted that: S3: M330 (AGV call) signal → dispatching AGV through MES;

[0061] S4: Clamping complete signal = Upper series 8-channel sensor AND condition met;

[0062] S5: 3D visual recognition and coordinate system synchronization;

[0063] D2 = No: Re-identify after sequential cleaning of M07 (Air) → M08 (Coolant);

[0064] S7: The lower part has 8 parallel sensors to confirm the empty space before proceeding with the transport.

[0065] Loop: S8 → Return to S2, maintaining closed-loop operation.

[0066] like Figure 14 As shown in the flowchart of the clamping device with or without a determination signal based on I / O sensors, it should be noted that: S1: The AGV arrives at the designated clamping position according to the MES scheduling.

[0067] S2: Eight proximity sensors are connected in series at the top to detect the status of the fixture to be processed;

[0068] D1 = No: If any series sensor fails to detect the fixture, an alarm will be triggered immediately and the process will be stopped.

[0069] S3: Lower parallel proximity sensor detects the status of the fixture in the unloading area;

[0070] D2 = Yes: When there is already a fixture in the unloading area, output a occupancy signal and wait / retry;

[0071] S4: When the detection result is empty, output the fixture ready signal;

[0072] S5: After receiving the ready signal, the CNC / MES automatically enters the clamping or machining process.

[0073] like Figure 15As shown in the structure diagram of the automatic calibration system for marker coordinates based on 3D vision recognition, it should be noted that: S1: Standardized markers (such as AprilTag / QR codes) are installed inside the device and a reference coordinate system is set;

[0074] S2: The AGV is scheduled by MES to reach a location near Zero-Point;

[0075] S3: The industrial camera uses a high-resolution mode to acquire marked images;

[0076] S4: Features such as corners and edges are extracted using visual algorithms for localization;

[0077] S5: Coordinate transformation algorithms (such as PnP, ICP) transform the camera coordinate system to the machine tool coordinate system;

[0078] D1 = No: When the deviation exceeds ±Xμm, the compensation amount is calculated in real time;

[0079] Update docking coordinates: Write the correction results to the CNC controller and AGV control unit;

[0080] S6: After coordinate locking, enter production safety mode;

[0081] S7: The CNC receives updated coordinates and waits for the machining task to start.

[0082] To implement this utility model, a four-axis linkage control tilting table 106 and eight high-speed parallel spindle units 11 must be integrated and installed on the X-PRIME platform. Following the precision assembly process of the low center of gravity structure and the integrated left-right symmetrical cam chuck (headstock 20 and tailstock 30) within the tilting table 106, the following steps must be performed:

[0083] Step 1: Installation of the mechanical base and frame 13: Install the frame 13 and columns 12, which are made of natural granite. The level must be calibrated to within ±3μm, and a three-dimensional reference coordinate system must be set using an electronic level and laser tracker. The granite frame 13 is secured using a pre-tensioned structure and multi-point mounting to achieve low-frequency vibration attenuation and thermal displacement suppression.

[0084] Step 2: Install the eight-spindle parallel spindle unit: Select a high-speed electric spindle compatible with ISO25 standard taper shank tool holders, which can operate stably for a long time at the rated speed of 32,000 rpm. The center distance between the spindles is maintained at 225 mm. Install them in parallel along a high-precision linear guideway. During installation, use a high-precision 2μm tester to check the spindle coaxiality (≤±3μm) and center position deviation (≤±0.002mm).

[0085] Step 3: Assembly of the four-axis tilting table 106 and tooling fixture structure: A set of A-axis linkage tilting tables 106 is installed under each spindle. The table body adopts a low center of gravity design to enhance the stability of the machine body. A compatible tooling base (Zero-Point Alignment Base) is installed on top of the tilting table 106. The spindle seat 20 and tailstock 30 are internally integrated. Single-acting cylinder Double piston rod 50 + cam clamp 61 (Cam-Driven Clamp Assembly).

[0086] Step 4: Worktable center alignment and synchronous interpolation accuracy verification: The center coordinates of all tilting worktables 106 are based on the CNC controller, with a calibration error of ≤±2μm. The A-axis interpolation control range is within ±180°, and the angle control accuracy is ≤±0.01°. With the help of the precision probe (Test Indicator) on the spindle, the tooling repeatability accuracy is ensured to be ≤±2μm.

[0087] Step 5: Alignment design of AGV linkage reference position and marker coordinate system: The reference point of the AGV automatic loading / unloading tooling is set at the 3D vision recognition fixed marker (Fixed Marker for Vision Recognition) below the front of the equipment table. The alignment accuracy between the coordinate system of the AGV vision system and this marker should be ≤±0.05mm, and dynamic matching is performed by the AGV's internal vision correction algorithm.

[0088] Step 6, CNC-MES System Integration Testing and Trial Operation Process: After assembly, set up the connection between CNC and MES based on the OPC-UA protocol. 120 seconds after the start of machining, CNC issues the M330 command, and MES receives it and synchronously sends a wireless scheduling signal to AGV. After machining, the automatic cleaning process is executed in sequence: M08 high-pressure cutting fluid cleaning → M07 air blowing cleaning → visual inspection to check for cleanliness. After manual inspection confirms that there are no residual chips / lubricants on the tooling, parts, and visual markings, AGV automatically executes the unloading procedure according to priority. Finally, after confirming that all eight sets of tooling are fixed on Zero-Point and the 3D vision coordinates are aligned normally, functional verification trial machining in unmanned machining mode is carried out.

[0089] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform described in this utility model aims to achieve repeatability accuracy below ±3μm during high-speed unmanned precision machining. This is achieved by fixing the fixtures mounted on each machining table according to a high-precision positioning reference, the "Zero-Point method," and constructing an automatic changing system with consistent repeatability. The following are the fixture installation and alignment steps applicable to this utility model:

[0090] Step 1, Compatible Fixture Design and Zero-Point Reference Hole Definition: All fixtures must have at least four high-precision tapered dowel pin insertion holes machined on their base plate. These holes must be designed in accordance with the Zero-Point coordinate system on the machine tool table. The spacing between each hole and the center coordinates must be machined within a precision of 2μm to ensure complete fit and tight alignment with the tapered dowel pins 105 inserted into the headstock and tailstock.

[0091] Step 2: Machining and center alignment of the reference surface on the tilting table 106: A high-precision machining reference surface for fixture installation is machined on the upper surface of the rotary disk of the four-axis tilting table 106. This reference surface needs to be measured using a 2μm precision test indicator mounted on the spindle to ensure that its center error is controlled below 0.002mm. The alignment reference is set with the 0° position of the A-axis as the base point and the center of the Z-axis as the reference setting, and the fixture center is kept without displacement within the ±180° rotation range. At the same time, the concentricity between the rotation center line and the angle center line needs to be controlled within 3μm.

[0092] Step 3, cam clamping device 61 + tapered locating pin 105 composite structure for automatic clamping: built into the main spindle seat 20 and tailstock 30. Single-acting air cylinder 40, symmetrically configured on both sides. The piston rod 50 is connected to its respective cam clamp 61; the clamp is fixed by four tapered locating pins 105, and the cam clamp 61 performs the clamping action when the piston rod 50 is pushed forward, and quickly releases the clamping through the action of the cam clamp 61 when the piston rod 50 is retracted; the clamping contact surface and the contact plane of the clamp should be kept horizontal and fixed, and it is necessary to confirm by visual inspection or a level that the clamping is stable and reaches a horizontal state.

[0093] Step 4: AGV Automatic Gripper Replacement Auxiliary Alignment Structure: All gripper bases must have a pre-installed gripper interface (Grip Handle Interface) that matches the coordinates of the AGV robotic gripper, and its center of gravity (Center of Gravity) must be aligned with the AGV's movement centerline; the gripper workstation is equipped with an NPN type proximity sensor (NPN Type). When all 8 grippers are in position, the MES system recognizes it as "loading complete"; the empty space after disassembly is detected in real time by a parallel lower sensor to confirm the status after the grippers are unloaded.

[0094] Step 5, Repeatability Guarantee and Periodic Calibration Procedure: All fixtures are accompanied by a ±3μm repeatability certificate at the factory, and a repeatability calibration is required after every 1000 cycles of use. During calibration, a test indicator is fixed to the spindle, the fixture is mounted on the worktable, the positioning coordinate values ​​are read and recorded in the HMI or MES system, and then compared and corrected with the initial standard values.

[0095] The fixture installation and alignment method adopted in this utility model, through the integrated design of the worktable-fixture-AGV three-dimensional coordinate system, can stably control the repeatability error within ±3μm. Even under the conditions of multi-axis high-speed unmanned machining, it can maintain high precision and achieve highly reliable automated machining.

[0096] This invention addresses factors that may affect quality during high-speed continuous machining in unmanned environments, such as chip residue, cutting fluid splashing, fixture contamination, and visual mark contamination. It pre-constructs a high-pressure cleaning sequence and automatic switching control process suitable for each stage of the machining process. Particularly in multi-axis machining systems, considering the complex shapes of fixtures and products, and the possibility of cross-contamination from residual particles and fluids after machining, the following high-pressure multi-fluid jet sequence is applied:

[0097] Step 1, High-pressure multi-functional nozzle 103 structure: Each spindle is equipped with 4 independent high-pressure multi-functional nozzles 103, and a total of 32 nozzles are configured for the eight axes. Each nozzle can switch according to the automatic program to perform cutting fluid injection (M08), air blowing (M07), cutting fluid + air mixed injection (M330), and alcohol cleaning (optional module). The nozzle control is composed of a multi-fluid conversion control system based on solenoid valves and NC control.

[0098] Step 2, Automatic Cleaning Process After Processing: After processing is completed, the CNC controller sends an M330 signal to notify the MES that processing is complete and requests the AGV to execute the following automatic cleaning sequence:

[0099] First stage: Coolant injection (M08) to remove solid cutting particles;

[0100] Second stage: Air purging (M07) to remove residual oil film from the surface;

[0101] Phase 3: Air + alcohol mixed spray (mixed control) to clean visual markings and fixture surfaces;

[0102] Fourth stage: Cut off the cutting fluid (M09), blow out the residual gas, and confirm that the sensor status has recovered.

[0103] Step 3: Link with AGV and automatically transport: After cleaning, the AGV enters the equipment area according to the priority command issued by MES. After reading the fixture status signal, it automatically performs unloading / loading operations. The AGV uses the proximity sensor and I / O signal of the fixture station to determine whether the fixture is unlocked and whether there are residual chips. Then it decides whether to perform the loading action. At the same time, the vision camera confirms the position of the marked point.

[0104] Step 4: High-precision repetitive processing switch: After the AGV completes loading, the MES sends the new process instruction to the CNC, automatically compares the end coordinates of the previous process with the starting coordinates of the new process, and performs coordinate system correction. After receiving the AGV Clear signal, the CNC finally confirms the Zero-Point positioning and clamping status of the fixture and starts the next processing flow.

[0105] This cleaning and switching process is suitable for multi-axis automated equipment with a composite AGV structure. In a high-speed continuous operation environment, it minimizes contamination of products, fixtures, and visual markers, while avoiding cross-contamination of fluids, ensuring processing accuracy, improving marker recognition rate, and guaranteeing positioning consistency between processes. It provides an intelligent closed-loop cleaning and switching control system.

[0106] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform described in this utility model aims to simultaneously achieve repeatability, equipment reliability, and production stability in an unmanned precision machining environment. Based on a real-time linkage structure of MES (Manufacturing Execution System), it integrates modules for automatic process history recording, tool life tracking, anomaly alarms, and predictive maintenance. The specific management method is as follows:

[0107] 1. Automatic storage structure for each process history

[0108] All product unit processing records are automatically stored on the MES server and a process history log is generated based on the following items:

[0109] I. Processing start / end time;

[0110] II. Tool_ID and Tool Life (cumulative usage time, cumulative cutting distance, etc.) used;

[0111] 3. Log the clamping action time and release time;

[0112] IV. LOT information, reference coordinate values, and correction records of the processed product;

[0113] The main M codes (M08, M07, M330, etc.) generated by the CNC and the AGV linkage signals are sent to the MES in real time via the OPC-UA protocol. All process history is accumulated and stored in time series form.

[0114] 2. Tool life prediction and replacement recommendation system

[0115] When registering each tool for the first time, the Tool_ID, tool type, material and applicable process information must be entered into the MES. The actual cumulative time and cutting distance will be used as the basis for calculating the tool life.

[0116] When the cumulative usage exceeds 85%, the MES automatically sends a replacement suggestion to the operators or managers; when it reaches 100%, the forced replacement logic will be activated.

[0117] The replacement history will be automatically recorded, and the Tool_ID of the replacement and the RFID code of the replaced personnel will be stored synchronously.

[0118] Based on the tool wear condition, for example, when the tool life is 1000 products, the system can automatically call the spare tool in the tool magazine for replacement, so as to maximize the unmanned automatic operation time.

[0119] 3. Fixture repeatability calibration logic

[0120] Every 1000 cycles, the Zero-Point reference repeatability deviation of each fixture is measured. If an error exceeding ±3μm is detected, the MES will output a correction request and automatically switch the current process to "stop" or "inspection" mode. The corrected value will be recorded in the MES database and can be used as the basis for subsequent SPC quality statistics or SQA audit responses.

[0121] 4. Predictive Maintenance Integration Module

[0122] The maintenance cycle for the main components of the equipment, such as cylinders, cam clamps, spindle bearings, tool magazine servo motors, and cooling devices, will be calculated based on the sensors or the cumulative number of actions.

[0123] When each component reaches the preset cycle or time, the MES will automatically generate a maintenance appointment warning. The warning is divided into three levels: "Attention - Need to be checked - Risk of maintenance delay".

[0124] MES will analyze the failure rate and early warning failure modes of each component based on historical data to improve the accuracy of future failure prediction.

[0125] 5. Data visualization and addressing basic resume quality issues

[0126] The MES dashboard can display processing status, equipment utilization rate, cycle time of each process, remaining tool life, and other information in real time, and visualize them in charts.

[0127] It supports generating full process history documents for SQA audits in PDF format and has single-item LOT-level tracking functionality;

[0128] When a quality anomaly occurs, the system can trace the processing data, tools used, applicable fixtures, coordinate correction records, etc., for that time period, achieving full-process traceability.

[0129] The MES-linked history management and predictive maintenance structure constructed by this invention can uniformly manage the status of fixtures, tools and equipment in a multi-axis high-speed unmanned machining environment, thereby achieving goals such as improving production efficiency, ensuring quality traceability, minimizing downtime and preventing equipment failures, and thus achieving the operational stability of a smart factory.

[0130] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform described in this invention achieves fully automated control of the entire process—including fixture replacement, process start and end recognition, cleaning program execution, and coordinate system calibration—without human intervention through an AGV-I / O closed-loop linkage structure optimized for high-speed unmanned machining environments. Its sequence control is based on the following phased operation flow and control structure:

[0131] 1. I / O-based AGV fixture loading / unloading judgment structure

[0132] Each fixture station of the equipment is equipped with a total of 16 proximity sensors:

[0133] (1) 8 series sensors used to detect the fixture installation status before the process;

[0134] (2) Parallel sensors (8) used to identify the status of empty workstations after the process;

[0135] When the conditions Sensor1 AND Sensor2 AND ... AND Sensor8 are met, the series sensors output a "fixture loading complete" signal; the parallel sensors determine the "empty" state through NOT (Sensor1 OR Sensor2 OR ... OR Sensor8) logic.

[0136] The aforementioned sensor signals are transmitted to the AGV system in the form of digital input (DI) through the I / O module. The AGV then determines whether to proceed to the next step based on the input signal.

[0137] 2. AGV Automatic Entry and Fixture Changing Sequence

[0138] (1) MES → Sends process instructions to CNC;

[0139] (2) CNC → Send M330 command (summon AGV 2 minutes before the end of processing);

[0140] (3) MES → Sends a call signal to AGV;

[0141] (4) AGV → Read I / O sensor data (detect whether the clamp has or is empty);

[0142] (5) AGV → enters the fixture station and starts the unloading program;

[0143] (6) After unloading is completed, the "empty space" status is confirmed by parallel sensors;

[0144] (7) AGV → enters the loading station and loads the new fixture;

[0145] (8) After loading is completed, the "loading completed" status is confirmed by the series sensor;

[0146] (9) AGV → Sends a fixture loading completion signal to CNC;

[0147] (10) CNC → Execute M07 / M08 cleaning procedure (air → coolant → air);

[0148] (11) AGV leaves → Report completion to MES → Start the next processing step.

[0149] 3. Summary Table of AGV-I / O Signal Flow

[0150] The clamp has no detection DI (Proximity Sensor) I / O module AGV M330 command sent M size CNC MES / AGV AGV Summoning OPC-UA data MES AGV Fixture replacement complete notification DI / DO AGV CNC / MES Cleaning procedure execution M08 / M07 / M09 CNC Nozzle unit

[0151] 4. Application effect of high-speed unmanned processing

[0152] Based on 8 spindles × 8 fixtures, the average fixture replacement and cleaning time is controlled within 20 seconds.

[0153] The total time for the fully automated fixture replacement, cleaning, and coordinate alignment process is no more than 300 seconds.

[0154] AGVs achieve fully unmanned fixture replacement through autonomous judgment logic and sensor linkage mechanism;

[0155] Maintaining coordinate alignment error within ±0.05mm during repetitive processes ensures continuous operation of high-precision unmanned machining.

[0156] The AGV-I / O linkage automatic control structure adopted in this invention realizes real-time identification of fixture status through proximity sensors, and controls automatic action through the judgment logic inside the AGV. It establishes a CNC-MES-AGV closed-loop communication system, thereby realizing a high-speed, high-precision fully automatic unmanned machining system. In a multi-axis intelligent manufacturing environment, it significantly improves fixture changing efficiency, ensures coordinate accuracy, reduces manual intervention, and achieves process stability and sustainability.

[0157] The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform described in this utility model has been successfully developed and put into use in a real high-speed precision unmanned machining environment. Its structural design can realize large-volume, highly stable automated production. The following specific embodiments illustrate its technical implementation and process flow in detail:

[0158] 1. Applicable parts and processing conditions

[0159] Applicable product types:

[0160] Smartwatch casings (AL7N03-T6, Ti-6Al-4V, SUS316L), smartphone frames, wearable device hinge parts, e-book casings, medical titanium alloy implants, etc.

[0161] Basic material requirements:

[0162] AL7N03-T6 / Ti-6Al-4V / SUS316L;

[0163] Thickness before processing: not exceeding 10mm;

[0164] Required accuracy:

[0165] Dimensional tolerance ±0.03mm;

[0166] Repeatability accuracy ±3μm;

[0167] Surface roughness Ra is below 0.3;

[0168] Tool configuration example:

[0169] 1mm~3mm spiral two-flute / three-flute / four-flute end mills;

[0170] Ball end mills, surface drills, M1.0 / M1.2 / M1.4 thread taps;

[0171] A total of 22 types of cutting tools, including specialized roughing milling cutters.

[0172] 2. Schematic diagram of automated process flow

[0173] (1) Start-up of CNC-MES linkage machining:

[0174] Work orders are issued by MES → received by CNC → operators log in via RFID;

[0175] (2) AGV automatic clamping loading:

[0176] 120 seconds before the machining is completed, the CNC sends the M330 command → the AGV completes the precise fixture loading through 3D vision alignment → 8 sensors on the fixture station confirm that all fixtures are in place ("full load" state);

[0177] (3) Processing procedure:

[0178] Eight spindles perform high-speed machining simultaneously in parallel.

[0179] The first process takes about 5 minutes (saving about 40 minutes compared to traditional single-spindle equipment);

[0180] High-speed precision machining of aluminum / titanium alloys is performed using a 1mm diameter end mill at S28,000rpm.

[0181] (4) Automatic cleaning process:

[0182] M08 → High-pressure cutting fluid flushing;

[0183] M09 → Stop flushing;

[0184] M07 → Air-blowing cleaning of workpiece markings and fixtures;

[0185] (5) AGV automatic unloading and loading of the next batch:

[0186] Complete unloading → Confirm empty space via parallel sensors → Load new fixture → Automatic positioning and alignment based on Zero-Point → Start the next batch processing flow.

[0187] 3. Comparison of key system performance measurements

[0188] Single piece processing time Approximately 40 minutes Approximately 5 minutes Level of automation in fixture changing Manual or semi-automatic Fully unmanned automatic replacement Tool change time Approximately 0.8 to 1.2 seconds Average 0.5 seconds per spindle (eight-spindle synchronous tool change) Thermal displacement control structure None (made of cast iron) Use granite frame 13 (ΔL≤0.076mm) AGV linkage method External independent control MES-AGV Closed-Loop Automatic Control Fixture repeatability ±3μm or less ±3μm or less Machining repeatability ±3μm or less Below ±3μm (measured average value)

[0189] This embodiment demonstrates that the present invention has comprehensively solved the technical bottlenecks of traditional FANUC and BROTHER series single-spindle machining equipment 10 in the following aspects:

[0190] The 80-type elliptical rotary tool magazine with an application radius of less than R110mm achieves interference-free tool arrangement and supports the installation of more than 40 tools.

[0191] It works seamlessly with AGVs to achieve fully automated fixture replacement.

[0192] The combination of a four-axis tilting table 106 control and eight-spindle parallel machining enables multi-face synchronous and efficient machining.

[0193] Due to the extended processing time, a single AGV can efficiently control multiple devices → optimize cycle time and minimize loading / unloading waiting time.

[0194] In summary, this invention has not only been verified in an experimental environment but has also achieved unmanned automated operation under mass production conditions. It can serve as a core equipment platform for next-generation high-speed manufacturing lines for precision metal parts, possessing high-speed, high-precision, and high-reliability industrialization potential.

Claims

1. A four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform, characterized in that: This includes an eight-spindle high-speed machining center with a four-axis linkage control structure. The machining center includes a fixed worktable structure for each spindle head and tailstock. This fixed worktable structure employs an integrated, single-acting cylinder structure that eliminates the T-slot design. A Ø60mm inner diameter cylinder and two Ø12mm piston rods are symmetrically inserted horizontally. The fixed worktable structure also integrates a bidirectional cam-driven clamping mechanism. The cylinder operates at 5 kgf / cm². 2 Under pneumatic conditions, a bidirectional clamping force greater than 260 kgf can be achieved; the fixture on the fixed worktable structure is fixed by a 4-point conical positioning pin to achieve a repeatability positioning accuracy within 3 μm, and there are no external cylinders on the top and sides of the fixture; the fixed worktable structure can achieve 180° rotation in a low center of gravity state and has a four-axis mechanism that can simultaneously process the upper and lower inclined surfaces; the two bidirectional cam-driven clamping mechanisms on the fixed worktable structure are each equipped with 2 cam clamps.

2. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The automatic tool changer configured in the machining equipment is a rotary tool magazine based on an elliptical linkage structure. The rotary tool magazine is equipped with more than 40 ISO25 standard tool holders, which are arranged by servo indexing. During tool changing, the spindle position of the machining equipment does not need to move in the X-axis or Y-axis direction, but can be completed by vertically moving up and down along the Z-axis centerline. The average tool-to-tool change time is controlled within 4 seconds. The elliptical linkage structure can be modularly expanded by configuring expandable tapping holes in units of two tool positions.

3. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The system includes a six-wheeled composite AGV equipped with a collaborative robot system. The AGV is linked with a workstation of the loading fixtures of the processing equipment. The workstation is equipped with serial proximity sensors, and is identified as "fully loaded" when all eight fixtures on the workstation are in position. An eight-channel parallel sensor is configured on the loading fixture workstation. When all fixture slots on the workstation are empty, the 3D vision system scans the marks fixed on the fixture trays. The AGV only performs clamping / unloading operations when it meets the position alignment condition within ±0.05mm. The AGV achieves automated control through a closed-loop communication structure between MES and AGV.

4. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 3, characterized in that: Four high-pressure multi-functional nozzles are installed around each spindle of the machining equipment at 90° intervals. After machining, the high-pressure multi-functional nozzles perform cleaning operations using an automatic switching system based on solenoid valves, via a switching command in the CNC program for M08 cutting fluid, M07 compressed air, and a mixture of alcohol and compressed air. When the spindle of the machining equipment is stationary, the high-pressure multi-functional nozzles can achieve non-contact cleaning during Y-axis movement. The objects cleaned by the high-pressure multi-functional nozzles include markings, fixtures, and the front of the product. After the cleaning operation, the AGV will continuously execute an automatic fixture change sequence.

5. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 3, characterized in that: The fixtures are all fixed to the Zero-Point alignment plate on the fixed workbench structure; the bottom surface of the fixture is precisely fixed by two tapered positioning pins on each side; the cam clamp can be quickly released within a stroke of less than 10mm, and the repeatability is controlled within 3μm; there are no external cylinders around the fixtures, so as to be suitable for the unmanned automatic repetitive processing environment of AGV.

6. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The columns and frame of the processing equipment are made of granite; the coefficient of thermal expansion α of the columns and frame, with a base length of 800mm, is 6.3×10⁻⁶. -6 / °C, the thermal displacement when the temperature rises by ΔT=15°C is ΔL≤0.076mm; the average thermal deviation of the processing equipment based on eight spindles is limited to below 0.9μm; the columns and frames made of granite can achieve a thermal displacement suppression effect of more than 41.5% compared with cast iron.

7. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The fixed worktable structure is an inclined worktable, which adopts a left-right symmetrical low center of gravity structure consisting of a front and rear cam clamp; when the A-axis rotates ±180°, the center of gravity of the clamp on the inclined worktable does not shift and always remains in the center of the inclined worktable; the upper surface of the inclined worktable is composed of alignment reference holes and high-precision machining surfaces, and the inclined worktable can suppress resonance and vibration during high-speed machining.

8. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 2, characterized in that: The rotary tool magazine performs tool-to-tool exchanges solely through the vertical movement of the machining equipment's spindle along the Z-axis. During tool changes, the machining equipment's spindle remains stationary along the X and Y axes, maintaining a fixed origin. Quick tool changes are achieved only through vertical movement within an 80mm range along the Z-axis. The rotary tool magazine has a radius of less than R110. It employs an elliptical multi-joint linkage structure and is modular. The rotary tool magazine has pre-set threaded holes and supports linkage expansion, allowing for tool position expansion in two units. The rotary tool magazine is configured with 40 tool positions, expandable by two positions at a time.

9. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 1, characterized in that: The bidirectional cam-driven clamping mechanism includes a cylinder embedded inside the main shaft seat or tailstock; the cylinder contains two piston rods; the two piston rods achieve bidirectional movement by being linked with the cam drive shaft; Alternatively, the cylinder may contain two or more piston rods, which are linked to the piston rods using a non-cam-driven linkage or lever structure; the bidirectional cam-driven clamping mechanism has equivalent functions and effects.

10. The four-axis linkage eight-spindle high-speed CNC automation system based on the X-PRIME platform according to claim 4, characterized in that: The high-pressure multi-functional nozzle mounted on the spindle sprays cutting fluid, compressed air, and alcohol mixture in an automatic three-stage switching mode. The high-pressure multi-functional nozzle performs multiple tasks such as cleaning, cooling, and dust removal. When cleaning the markings, the high-pressure multi-functional nozzle can spray a mixture of alcohol and compressed air. In diamond cutting processes or unmanned machining environments, the high-pressure multi-functional nozzle can maintain stable repeatability through cleaning, thus forming a multi-functional nozzle structure.

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