Six-axis saw-mill station with automatic tool change
Patent Information
- Application Number
- CN202522621134.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-10-30
- Estimated Expiration
- 2035-12-10
AI Technical Summary
现有锯铣设备多为单轴或三轴结构，工件加工自由度有限，难以实现复杂曲面、多角度斜面的一体化加工，常需多次装夹调整，不仅降低加工效率，还易因定位误差影响加工精度
[0010]本实用新型的有益效果是：六轴联动设计使刀具与工件均具备多自由度调整能力，实现复杂工件多角度一体化加工，减少装夹次数与定位误差，提升加工精度与效率；自动换刀功能省去人工操作，缩短换刀时间并保障校准精度，增强生产连续性；工件姿态灵活调整适配大型异形件，箱体防护结构则降低安全隐患与粉尘污染，整体提升设备实用性与自动化水平。
Smart Images
Figure CN224914237U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of processing equipment technology, specifically relating to a six-axis sawing and milling station with automatic tool changing function. Background Technology
[0002] In the field of machining, sawing and milling is a common method for forming workpieces, especially for complex structural workpieces that require multi-angle and multi-process machining. Existing sawing and milling equipment is mostly single-axis or three-axis structure, which limits the degree of freedom of workpiece machining and makes it difficult to achieve integrated machining of complex curved surfaces and multi-angle inclined surfaces. It often requires multiple clamping and adjustment, which not only reduces machining efficiency but also easily affects machining accuracy due to positioning errors.
[0003] Meanwhile, traditional equipment relies heavily on manual tool changing, which is time-consuming and requires recalibration when switching between different tools, further hindering production continuity. Furthermore, while some automated sawing and milling equipment has basic displacement adjustment capabilities, it lacks the ability to flexibly adjust workpiece posture, making it unsuitable for machining large or irregularly shaped workpieces. Therefore, developing a highly flexible, automatically changing, and adaptable sawing and milling machine is a key requirement for improving the efficiency and quality of machining complex workpieces. Utility Model Content
[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a six-axis sawing and milling station with automatic tool changing function, including a material base, a tool gripper, and several tool holders. The tool gripper is rotatably mounted on the tool holder and is driven to rotate by a first rotary drive mechanism mounted on the tool holder. The tool holder is rotatably mounted on a movable plate and is driven to rotate by a second rotary drive mechanism mounted on the movable plate. The movable plate is mounted on a transverse slide rail, and several transverse sliders are provided on the transverse slide rail. The transverse sliders are fixedly connected to the movable plate and are driven to move on the transverse slide rail by a first linear displacement drive mechanism. The transverse slide rail is fixed to a lifting plate, and lifting devices are fixedly connected to both ends of the lifting plate. The lowering slider and the lifting slider are respectively installed on the vertical slide rail. The lifting slider is driven to move on the vertical slide rail by the second linear displacement drive mechanism. The material base is rotatably installed on the swing seat. The material base is driven to rotate by the third rotary drive mechanism installed on the swing seat. The two ends of the swing seat are respectively fixedly connected to the swing arms. The swing arms are respectively rotatably connected to the longitudinal moving plates. The swing arms are driven to rotate by the fourth rotary drive mechanism installed on the longitudinal moving plates. One end of the longitudinal moving plate is provided with a longitudinal slide rail. The longitudinal slide rail is provided with a longitudinal slider. The longitudinal slider is fixedly connected to the corresponding longitudinal moving plate. The longitudinal slider is driven to move on the longitudinal slide rail by the third linear displacement drive mechanism. The tool placement seat is provided with a tool support groove.
[0005] As a preferred embodiment of the above technical solution, the first rotary drive mechanism, the second rotary drive mechanism, the third rotary drive mechanism, and the fourth rotary drive mechanism are all motors, and the first linear displacement drive mechanism, the second linear displacement drive mechanism, and the third linear displacement drive mechanism have the same structure. The first linear displacement drive mechanism includes a lead screw and a drive motor, the drive motor drives the lead screw to rotate, and a lead screw pair is installed on the lead screw. The lead screw pair is fixedly connected to a horizontal slider, a lifting slider, or a vertical slider.
[0006] As a preferred embodiment of the above technical solution, the cutting tools include a cutting saw and a milling cutter, with each cutting tool corresponding to a cutting tool holder.
[0007] As a preferred embodiment of the above technical solution, each of the cutting tools is provided with a support portion and a limiting portion. The support portion is placed in the cutting tool holder groove, and the limiting portion is provided with an annular limiting groove. The cutting tool holder is provided with a cutting tool slot, and limiting strips are provided on both sides of the inside of the cutting tool slot, with the limiting strips extending into the annular limiting groove.
[0008] As a preferred embodiment of the above technical solution, it also includes a frame with a housing on the frame. The material base, tool clamps, and tool holder are all located inside the housing. Several openings are provided on the sides and back of the housing, and each opening is covered with a lid. Inlet and outlet ports are provided on the front and top of the housing. The inlet and outlet ports on the front of the housing are connected to the inlet and outlet ports on the top of the housing. Two L-shaped sliding doors are installed at the inlet and outlet ports.
[0009] As a preferred embodiment of the above technical solution, the L-shaped sliding doors are respectively installed on sliding door tracks, and the L-shaped sliding doors are respectively controlled to move on the sliding door tracks by pneumatic push rods or electric push rods.
[0010] The beneficial effects of this utility model are: the six-axis linkage design enables both the tool and the workpiece to have multi-degree-of-freedom adjustment capabilities, realizing multi-angle integrated machining of complex workpieces, reducing the number of clamping operations and positioning errors, and improving machining accuracy and efficiency; the automatic tool change function eliminates manual operation, shortens tool change time and ensures calibration accuracy, and enhances production continuity; the flexible adjustment of workpiece posture adapts to large and irregularly shaped parts, while the protective structure of the housing reduces safety hazards and dust pollution, thus improving the overall practicality and automation level of the equipment. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the internal structure of this utility model; Figure 2 This is a schematic diagram of the external structure of this utility model; Figure 3 This is a schematic diagram of the tool holder structure. Detailed Implementation
[0012] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. 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.
[0013] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0014] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.
[0015] like Figure 1-3As shown, a six-axis sawing and milling station with automatic tool changing function includes a material base 1, a tool gripper 2, and several tool holders 3. The tool gripper 2 is rotatably mounted on a tool holder 4 and is driven to rotate by a first rotary drive mechanism 13 mounted on the tool holder 4. The tool holder 4 is rotatably mounted on a movable plate 5 and is driven to rotate by a second rotary drive mechanism 14 mounted on the movable plate 5. The movable plate 5 is mounted on a transverse slide rail 6, and several transverse sliders 30 are provided on the transverse slide rail 6. The transverse sliders 30 are fixedly connected to the movable plate 5 and are driven to move on the transverse slide rail 6 by a first linear displacement drive mechanism. The transverse slide rail 6 is fixed to a lifting plate 7, and lifting sliders are fixedly connected to both ends of the lifting plate 7. Mounted on a vertical slide rail, the lifting slider is driven to move on the vertical slide rail by a second linear displacement drive mechanism. The material base 1 is rotatably mounted on a swing seat 8, and the material base 1 is driven to rotate by a third rotary drive mechanism 16 mounted on the swing seat 8. Swing arms 9 are fixedly connected to both ends of the swing seat 8, and each swing arm 9 is rotatably connected to a longitudinal moving plate 10. The swing arms 9 are driven to rotate by a fourth rotary drive mechanism 17 mounted on the longitudinal moving plate 10. A longitudinal slide rail 11 is provided at one end of the longitudinal moving plate 10, and a longitudinal slider is provided on the longitudinal slide rail 11. The longitudinal slider is fixedly connected to the corresponding longitudinal moving plate 10 and is driven to move on the longitudinal slide rail 11 by the third linear displacement drive mechanism. The tool placement seat 3 is provided with a tool slot 12. The material base 1 can have multiple threaded holes, which, together with bolts, etc., are used to position and fix the workpiece placed on the material base 1. The material base 1 can rotate, tilt and swing at a certain angle, and move longitudinally. After the tool gripper 2 grasps the tool, it can drive the tool to rotate, rotate in any direction, move up and down, and move laterally. The tool gripper 2 and the material base 1 work together to enable multi-angle machining operations on complex workpieces. The tool can be a cutting saw, milling cutter, or other machining tool that requires high-speed rotation.
[0016] Furthermore, the first rotary drive mechanism 13, the second rotary drive mechanism 14, the third rotary drive mechanism 16, and the fourth rotary drive mechanism 17 are all motors. The first linear displacement drive mechanism, the second linear displacement drive mechanism, and the third linear displacement drive mechanism have the same structure. The first linear displacement drive mechanism includes a lead screw 18 and a drive motor 19. The drive motor 19 drives the lead screw 18 to rotate. A lead screw pair is mounted on the lead screw 18, and the lead screw pair is fixedly connected to a transverse slider, a lifting slider, or a longitudinal slider. The cooperation between the lead screw 18 and the lead screw pair can achieve precise control of the tool displacement and ensure the machining quality of the workpiece.
[0017] Furthermore, the cutting tools include a cutting saw and a milling cutter, with each tool corresponding to a tool holder 3. The size and purpose of the tools are configured as needed. Automatic tool changing is achieved by utilizing the multi-directional movement of the tool gripper 2.
[0018] Furthermore, each of the aforementioned cutting tools is provided with a support portion 20 and a limiting portion 21. The support portion 20 is placed in the cutting tool holder 12, and the limiting portion 21 has an annular limiting groove 22. The cutting tool placement seat 3 has a cutting tool slot 23, and limiting strips 24 are respectively provided on both sides of the inside of the cutting tool slot 23, extending into the annular limiting groove 22. The cutting tool includes a clamping rod, and the support portion 20 and the limiting portion 21 are both located on the clamping rod. The clamping rod is used for the cutting tool gripper 2 to grip and fix it. The cutting tool gripper 2 grips the clamping rod and drives the entire cutting tool to rotate and move. The cutting tool is placed on a dedicated cutting tool placement seat 3 and positioned using the annular limiting groove 22 and the limiting strips 24, allowing the cutting tool gripper 2 to select and accurately grasp it for use. The replaced cutting tool is placed back into the cutting tool placement seat 3, and the cooperation of the annular limiting groove 22, the limiting strips 24, and the cutting tool holder 12 prevents the cutting tool from slipping.
[0019] Furthermore, the machine includes a frame 25, on which a housing 26 is mounted. The material base 1, tool grippers 2, and tool holder 3 are all located within the housing 26. Several openings are provided on the sides and back of the housing 26, each covered by a lid 27. Inlet / outlet ports 28 are located on the front and top of the housing 26, connecting to each other. Two L-shaped sliding doors 29 are installed at the inlet / outlet ports 28. Opening the lid 27 allows for easy observation and maintenance of the interior of the housing 26 through the openings. Workpieces to be processed or already processed enter and exit the housing 26 through the inlet / outlet ports 28. The inlet / outlet ports 28, located on the front and top of the housing 26 and connected, facilitate the automated transfer of large workpieces using robotic arms or similar devices. The housing 26 provides protection during workpiece processing.
[0020] Furthermore, the L-shaped sliding doors 29 are respectively installed on sliding door tracks, and the L-shaped sliding doors 29 are controlled to move on the sliding door tracks by electric push rods 30. The L-shaped sliding doors 29 achieve automatic opening and closing through electric push rods 30, further improving the automation level of the six-axis sawing and milling station.
[0021] It is worth mentioning that the technical features such as the motor and the tool gripper 2 involved in this utility model patent application should be regarded as prior art. The specific structure, working principle and possible control method and spatial arrangement of these technical features can be adopted by conventional choices in the field and should not be regarded as the inventive point of this utility model patent. This utility model patent will not be further elaborated in detail.
[0022] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experimentation on the basis of the prior art should be within the scope of protection defined by the claims.
Claims
1. A six-axis sawing and milling station with automatic tool changer, characterized in that, The device includes a material base, a tool gripper, and several tool holders. The tool gripper is rotatably mounted on the tool holder and is driven to rotate by a first rotary drive mechanism mounted on the tool holder. The tool holder is rotatably mounted on a movable plate and is driven to rotate by a second rotary drive mechanism mounted on the movable plate. The movable plate is mounted on a transverse slide rail, which has several transverse sliders fixedly connected to it. These sliders are driven to move along the transverse slide rail by a first linear displacement drive mechanism. The transverse slide rail is fixed to a lifting plate, and lifting sliders are fixedly connected to both ends of the lifting plate. These lifting sliders are mounted on vertical slide rails. The lifting slider is driven by the second linear displacement drive mechanism to move on the vertical slide rail. The material base is rotatably mounted on the swing seat. The material base is driven to rotate by the third rotary drive mechanism mounted on the swing seat. The two ends of the swing seat are respectively fixedly connected to the swing arms. The swing arms are respectively rotatably connected to the longitudinal moving plates. The swing arms are driven to rotate by the fourth rotary drive mechanism mounted on the longitudinal moving plates. One end of the longitudinal moving plate is provided with a longitudinal slide rail. The longitudinal slide rail is provided with a longitudinal slider. The longitudinal slider is fixedly connected to the corresponding longitudinal moving plate. The longitudinal slider is driven by the third linear displacement drive mechanism to move on the longitudinal slide rail. The tool placement seat is provided with a tool support groove.
2. The six-axis sawing and milling station with automatic tool changing function as described in claim 1, characterized in that, The first, second, third, and fourth rotary drive mechanisms are all motors. The first, second, and third linear displacement drive mechanisms have the same structure. The first linear displacement drive mechanism includes a lead screw and a drive motor. The drive motor drives the lead screw to rotate. A lead screw pair is installed on the lead screw. The lead screw pair is fixedly connected to a horizontal slider, a lifting slider, or a vertical slider.
3. The six-axis sawing and milling station with automatic tool changing function as described in claim 1, characterized in that, The cutting tools include cutting saws and milling cutters, with each tool corresponding to a tool holder.
4. The six-axis sawing and milling station with automatic tool changing function as described in claim 3, characterized in that, Each of the aforementioned cutting tools is provided with a support portion and a limiting portion. The support portion is placed in the cutting tool slot, and the limiting portion is provided with an annular limiting groove. The cutting tool placement seat is provided with a cutting tool slot, and limiting strips are provided on both sides of the inside of the cutting tool slot, with the limiting strips extending into the annular limiting groove.
5. The six-axis sawing and milling station with automatic tool changing function as described in claim 1, characterized in that, It also includes a frame with a box on it. The material base, tool clamps and tool holder are all located inside the box. Several openings are opened on the sides and back of the box, and each opening is covered with a lid. The front and top of the box have inlet and outlet ports. The inlet and outlet ports on the front of the box are connected to the inlet and outlet ports on the top of the box. Two L-shaped sliding doors are installed at the inlet and outlet ports.
6. The six-axis sawing and milling station with automatic tool changing function as described in claim 5, characterized in that, The L-shaped sliding doors are respectively installed on the sliding door track, and the L-shaped sliding doors are controlled to move on the sliding door track by pneumatic push rods or electric push rods.