CNC rough machining device based on full-six-axis spatial interpolation linkage

Abstract

A CNC rough machining device based on full-six-axis spatial interpolation linkage, comprising a machine tool (1) mounted on a base (11). Linear motion shafts, rotary motion shafts, a rotary cutter disc (8) and a workpiece mounting disc (10) are arranged on the machine tool (1); the linear motion shafts include an X shaft (2), Y shafts (3) and Z shafts (4); the rotary motion shafts include A shafts (5), a B shaft (6) and a C shaft (9); the X shaft (2) is located on the machine tool (1); the Y shafts (3) are located on the base (11); the Z shafts (4) are located on the front side of the X shaft (2); the A shafts (5) are located above the Y shafts (3); the B shaft (6) is located on the front side of the Z shafts (4); the C shaft (9) is located below the A shafts (5); the workpiece mounting disc (10) is located on the C shaft (9); and the rotary cutter disc (8) is located on the B shaft (6). The full-six-axis CNC rough machining device is used for rough machining procedures of light aluminum-magnesium alloy castings, such as grinding, burr cleaning and face milling, so that positional orientations difficult to be machined in five-axis linkage are made to be machinable.

Description

A CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage Technical Field

[0001] The present invention relates to the technical field of CNC rough machining and grinding equipment, and in particular to a CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage. Background Art

[0002] Casting is an important basic process in the machinery industry. The development of equipment manufacturing, automobile industry, rail transportation, and aerospace are all inseparable from this basic industry. However, due to the limitations of production equipment and processes, and in order to meet product appearance and surface quality requirements, burr removal and surface grinding have become one of the inevitable processes in the subsequent processing of casting products. Traditional cleaning and polishing operations mainly rely on manual labor, which is labor-intensive and has a harsh working environment. Long working hours are prone to occupational hazards and have serious safety hazards. The finished product also depends on the skill level of the employees, making it difficult to ensure quality consistency. Currently, mechanized automation in the market mainly relies on robots, but due to the structural limitations of robots, their rigidity is low, making it difficult to perform effective and efficient burr removal and rough processing. At the same time, the limitations of the robot's wrist mechanism and load limit make it difficult to carry multiple tools at the same time.

[0003] Based on the above technical problems, there is an urgent need to improve the CNC rough machining and grinding equipment. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] The present invention discloses a CNC rough machining and grinding device with full six-axis spatial interpolation linkage, comprising a machine tool installed on a base, wherein the machine tool is provided with a linear motion axis, a rotary motion axis, a rotary cutter head and a workpiece mounting plate, wherein the linear motion axis comprises an X-axis, a Y-axis and a Z-axis, and the rotary motion axis comprises an A-axis, a B-axis and a C-axis, wherein the X-axis is located on the machine tool, the Y-axis is located on the base, the Z-axis is located in front of the X-axis, the A-axis is located above the Y-axis, the B-axis is located in front of the Z-axis, the C-axis is located below the A-axis, the workpiece mounting plate is located on the C-axis, and the rotary cutter head is located on the B-axis.

[0006] Preferably, the X-axis is provided with an X-axis screw rod, an X-axis motor is provided at the end of the X-axis screw rod, and the X-axis is driven by the X-axis motor to reciprocate horizontally left and right; the Y-axis is provided with a Y-axis screw rod, a Y-axis motor is provided at the end of the Y-axis screw rod, and the Y-axis is driven by the Y-axis motor to reciprocate longitudinally front and back; the Z-axis is provided with a Z-axis screw rod, a Z-axis motor is provided at the end of the Z-axis screw rod, and the Z-axis is driven by the Z-axis motor to reciprocate up and down.

[0007] Preferably, the Y-axis assembly including the Y-axis also includes a Y-axis base connected to the Y-axis, the Y-axis assembly is connected to the base through the Y-axis base, and the base has a longitudinal accommodating space for installing the Y-axis assembly.

[0008] Preferably, the Y-axis assembly is provided with a first linear guide rail and a first slider sliding along the first linear guide rail, and the AC-axis assembly including the A-axis and the C-axis is mounted on the first slider of the first linear guide rail;

[0009] The AC assembly is provided with an A-axis base having a concave accommodation space, and cradles are suspended on the two side frames of the A-axis base, and the cradles divide the concave accommodation space into two parts, upper and lower parts;

[0010] The A-axis is located at the connection between the cradle and the A-axis base, the C-axis passes through the center of the cradle from top to bottom, the end of the C-axis is provided with the workpiece mounting plate, and the workpiece mounting plate is provided with a workpiece positioning groove.

[0011] Preferably, the A-axis is connected to an A-axis motor, and an A-axis RV reducer is provided between the A-axis motor and the A-axis; the C-axis is connected to a C-axis motor, and a C-axis RV reducer is provided between the C-axis motor and the C-axis.

[0012] Preferably, the X-axis assembly including the X-axis is mounted on the column of the machine tool, the X-axis assembly also includes a second linear guide and a second slider sliding along the second linear guide, the Z-axis assembly including the Z-axis is mounted on the second slider, the Z-axis assembly also includes a third linear guide and a third slider sliding along the third linear guide, and the B-axis assembly including the B-axis is mounted on the third slider.

[0013] Preferably, one end of the B-axis is connected to a B-axis motor, a B-axis RV reducer is provided between the B-axis motor and the B-axis, and the other end of the B-axis is connected to a rotating cutter disc, which rotates driven by the B-axis.

[0014] Preferably, the rotary cutter head is provided with a roughing tool and a cutting tool, the roughing tool comprises an electric spindle and / or a floating spindle, and the cutting tool comprises an alloy milling cutter, a file, a wire brush or a flap wheel.

[0015] Preferably, the electric spindle is annular, and the electric spindle includes electric spindle one, electric spindle two and electric spindle three. The electric spindle one, electric spindle two, electric spindle three and the floating spindle are respectively located at the annular edge of the electric spindle and are arranged in a cross pattern. The electric spindle two and the electric spindle three are located on the same horizontal line, and the electric spindle one and the floating spindle are located on another vertical line.

[0016] Preferably, the rotary cutter disc is a multi-station cutter disc with four or six knife positions; an adjustable micro-spray device is also provided on the Z axis.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention discloses a CNC rough machining and grinding device with full six-axis spatial interpolation linkage. The machine tool adopts a casting body, has a light structure, high rigidity, and can realize fast and accurate position changes. The machine tool realizes the rotating tool center point (RTCP) interpolation linkage function with full six-axis participation, that is, on the basis of the XYZAB five-axis, the rotary axis (B axis) of the cutter head is also considered into the RTCP linkage interpolation calculation, so that the tool tip can run according to the specified path and posture in the workpiece coordinates; the B axis entering the interpolation algorithm can increase the redundancy of the posture transformation, reduce the rotation position of the A and C axes during the change process, and improve the efficiency of the machining process; in addition, the addition of the B axis makes it possible to process positions and postures that are difficult to process with the standard 5-axis linkage. The present invention is a universal six-axis CNC rough machining and grinding device, which is used for rough machining processes such as grinding, deburring, and plane milling of lightweight aluminum-magnesium alloy castings, and solves the shortcomings existing in the prior art.

[0019] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of the front side of the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0021] FIG2 is a schematic structural diagram of the side surface of the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0022] FIG3 is a schematic structural diagram of a base assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage according to the present invention.

[0023] FIG4 is a schematic structural diagram of the Y-axis assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0024] FIG5 is a schematic structural diagram of the AC axis assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0025] FIG6 is a schematic structural diagram of the X-axis assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0026] FIG7 is a schematic structural diagram of the Z-axis assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0027] FIG8 is a schematic structural diagram of the B-axis assembly in the CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage of the present invention.

[0028] The accompanying drawings are marked as follows: 1 is a machine tool, 2 is an X-axis, 3 is a Y-axis, 4 is a Z-axis, 5 is an A-axis, 6 is a B-axis, 7 is a chip guide port, 8 is a rotating cutter head, 9 is a C-axis, 10 is a workpiece mounting plate, 11 is a base, 12 is an X-axis screw, 13 is an X-axis motor, 14 is a Y-axis screw, 15 is a Y-axis motor, 16 is a Z-axis screw, 17 is a Z-axis motor, 18 is an A-axis motor, 19 is an A-axis RV reducer, 20 is a B-axis motor, 21 is a B-axis RV reducer, 22 is a C-axis motor, 23 is a C-axis RV reducer, 24 is a motor spindle 1, 25 is a motor spindle 2, 26 is a motor spindle 3 Machine spindle three, 27 is the floating spindle, 28 is the adjustable micro-spray device, 29 is the workpiece positioning groove, 10 is the column, 30 is the first linear guide rail, 31 is the first slider, 32 is the Y-axis base, 33 is the steel plate guard, 34 is the A-axis base, 35 is the cradle, 36 is the X-axis base, 37 is the second linear guide rail, 38 is the second slider, 39 is the first accordion cover, 40 is the Z-axis base, 41 is the third linear guide rail, 42 is the third slider, and 43 is the second accordion cover. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects of the invention easier to understand, the invention is further described below with reference to specific diagrams. However, the invention is not limited to the following implementation cases.

[0030] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0031] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0032] As shown in Figures 1 and 2, the full six-axis spatial interpolation linkage CNC rough machining and grinding equipment disclosed in the present invention includes a machine tool 1 installed on a base 11, and the machine tool 1 is provided with a linear motion axis, a rotary motion axis, a rotating cutter head 8 and a workpiece mounting plate 10.

[0033] Furthermore, the linear motion axes include an X-axis 2, a Y-axis 3, and a Z-axis 4, and the rotary motion axes include an A-axis 5, a B-axis 6, and a C-axis 9. The X-axis 2 is located on the machine tool 1, the Y-axis 3 is located on the base 11, the Z-axis 4 is located in front of the X-axis 2, the A-axis 5 is located above the Y-axis 3, the B-axis 6 is located in front of the Z-axis 4, the C-axis 9 is located below the A-axis 5, the workpiece mounting plate 10 is located on the C-axis 9, and the rotary cutter head 8 is located on the B-axis 6.

[0034] The six axes of the present invention are driven as follows: the X-axis 2 is provided with an X-axis screw 12, the end of which is provided with an X-axis motor 13, which drives the X-axis to move horizontally and reciprocally. The Y-axis 3 is provided with a Y-axis screw 14, the end of which is provided with a Y-axis motor 15, which drives the Y-axis to move longitudinally and reciprocally. The Z-axis 4 is provided with a Z-axis screw 16, the end of which is provided with a Z-axis motor 17, which drives the Z-axis to move vertically and reciprocally.

[0035] The A-axis 5 is connected to an A-axis motor 18, with an A-axis RV reducer 19 interposed between the A-axis motor 18 and the A-axis 5. The B-axis 6 is equipped with a built-in B-axis motor 20, with a B-axis RV reducer 21 interposed between the B-axis motor 20 and the B-axis 6. The C-axis 9 is connected to a C-axis motor 22, with a C-axis RV reducer 23 interposed between the C-axis motor 22 and the C-axis 9. Specifically, the linear motion axes use servo motors to drive screw drive mechanisms, moving on linear guide rails. The X-axis 2 moves left and right, the Y-axis 3 moves forward and backward, and the Z-axis 4 moves up and down.

[0036] The rotary motion axis uses a servo motor to drive a high-precision and high-rigidity RV reducer to drive the mechanism for rotational motion, wherein the A-axis 5 moves around the X-axis 2, the B-axis 6 moves around the Y-axis 3, and the C-axis 9 moves around the Z-axis 4. The direction of motion follows the right-hand screw rule, that is, the right thumb points in the direction of the axis, and the direction of the other four fingers is the positive direction of motion around the axis.

[0037] Referring to Figures 3 to 5, in the schematic diagram of the base assembly shown in Figure 3, the base 11 is a rectangular structure installed at the four corners, and a longitudinal accommodating space for installing the Y-axis 3 is provided on the base 11, so that the Y-axis assembly shown in Figure 4 is accommodated as a whole between the two columns 10 and covers the center position of the base.

[0038] As shown in Figure 4, the Y-axis 3 is surrounded by a Y-axis screw rod 14. A first linear guide rail 30 is provided on each side of the Y-axis 3. A first slider 31 that can slide along the guide rail is provided on the first linear guide rail 30. The Y-axis 3 and the first linear guide rail 30 are jointly mounted on a Y-axis base 32. Steel plate shields 33 are provided on both sides of the Y-axis base 32. Through the fixation of the Y-axis base 32 and the steel plate shield 33, the Y-axis assembly is stably mounted on the base 11. A Y-axis motor 15 is installed at one end of the Y-axis 3, which drives the Y-axis 3 to move back and forth.

[0039] After the Y-axis assembly is installed on the base 11, the AC-axis assembly (as shown in Figure 5) is horizontally installed above the Y-axis assembly, on the side of the base 11 away from the two columns 10. The AC-axis assembly is mounted on the first slider 31 of the first linear guide 30. As shown in Figure 5, the AC-axis assembly includes an A-axis base 34 with a concave accommodating space. A cradle 35 is suspended from the two side frames of the A-axis base 34, dividing the concave accommodating space into upper and lower parts. Driven by the A-axis 5, the cradle 35 can swing like a swing within the concave accommodating space. A workpiece mounting plate 10 is located at the center of the cradle 35, on which the workpiece requiring CNC rough machining can be mounted. When machining the front of the workpiece, the cradle 35 is horizontal. When machining the side of the workpiece, the cradle 35 swings to the appropriate position, allowing the rotating cutter head 8 to face the side of the workpiece.

[0040] The A-axis 5 is arranged at the connection between the cradle 35 and the A-axis base 34. An A-axis motor 18 is installed at one end of the A-axis 5. An A-axis RV reducer 19 is also provided on the A-axis 5, so that the A-axis 5 runs under the drive of the A-axis motor 18 and is braked by the A-axis RV reducer 19 at the same time.

[0041] The C-axis 9 passes through the center of the cradle 35 from top to bottom. A workpiece mounting plate 10 is installed at one end of the C-axis 9, and a C-axis motor 22 is installed at the other end of the C-axis 9. A C-axis RV reducer 23 is also provided on the C-axis 9, so that the C-axis 9 runs under the drive of the C-axis motor 22 and is braked by the C-axis RV reducer 23 at the same time.

[0042] In the schematic diagram of the X-axis assembly shown in Figure 6, the X-axis base 36 can be installed on the column 10 in the base assembly to facilitate the fixing of the X-axis assembly. An X-axis screw 12 is wrapped around the X-axis 2, and a second linear guide 37 is provided on the upper and lower sides of the X-axis 2. The second linear guide 37 is provided with a second slider 38 that can slide along the guide rail. The X-axis 2 and the second linear guide 37 are installed together on the X-axis base 36. A first accordion cover 39 is provided on both sides of the X-axis base 36. Through the fixation of the X-axis base 36 and the first accordion cover 39, the X-axis assembly is stably installed on the column 10 as a whole. An X-axis motor 13 is installed at one end of the X-axis 2, and the X-axis motor 13 drives the X-axis 2 to move left and right.

[0043] In the schematic diagram of the Z-axis assembly shown in Figure 7, the Z-axis base 40 is mounted on the second slider 38 on the second linear guide 37. A Z-axis screw 16 surrounds the Z-axis 4, and a Z-axis motor 17 is mounted at one end of the Z-axis 4, which drives the Z-axis 4 up and down. A third linear guide 41 is provided on each side of the Z-axis 4, each with a third slider 42 that slides along the guide. The Z-axis 4 and third linear guide 41 are mounted together on the Z-axis base 40, and a second accordion cover 43 is provided on either side of the Z-axis base 40.

[0044] In the schematic diagram of the B-axis assembly shown in Figure 8, the entire B-axis assembly is mounted on the third slider 42 on the third linear guide 41. A B-axis motor 20 is mounted on one end of the B-axis 6, which is also equipped with a B-axis RV reducer 21. Driven by the B-axis motor 20, the B-axis 6 is simultaneously driven and braked by the B-axis RV reducer 21. The other end of the B-axis 6 is connected to a rotating cutterhead 8, which rotates under the drive of the B-axis 6.

[0045] Furthermore, the rotary cutterhead 8 of the present invention is equipped with roughing tools and cutting tools. The roughing tools include an electric spindle and / or a floating spindle 27, and the cutting tools include an alloy milling cutter, a file, a wire brush, or a flapper. The electric spindle includes electric spindle 1 24, electric spindle 2 25, and electric spindle 3 26. Electric spindle 2 25 and electric spindle 3 26 are located on the same straight line, with electric spindle 1 24 located above electric spindle 2 25 and electric spindle 3 26, and floating spindle 27 located below electric spindle 3 26. The rotary cutterhead 8 is a multi-station cutterhead, such as one with four or six tool positions. Rapid tool switching is achieved by rotating and controlling the position of the B-axis 6.

[0046] Furthermore, the present invention is provided with an adjustable micro-spray device 28 on the Z-axis 4 (behind the machining tool), which can be used as a cooling and lubricating device for cooling the tool operating at high speed.

[0047] The workpiece mounting plate 10 is provided with a positioning position for the tooling fixture, namely the workpiece positioning groove 29, which facilitates the production of multiple products and ensures the consistency of the fixture after disassembly and assembly; the product on the tooling adopts a multi-cylinder fixing method, and each cylinder is independently controlled. When the operation path interferes with the cylinder fixture, the switch of the cylinder can be controlled in the program to avoid collision and ensure the continuity of the operation trajectory.

[0048] There are symmetrically distributed chip guide openings 7 with inclined surfaces on both sides of the base 11. The aluminum chips produced by processing pass through the chip guide openings 7 and enter the chip loading trolley for collection and recycling of the aluminum chips.

[0049] The full six-axis spatial interpolation linkage control is a rotating tool center point (RTCP) interpolation linkage function involving all six axes. That is, on the basis of the XYZAB five-axis, the tool head's rotation axis (B-axis) is also taken into account in the RTCP linkage interpolation calculation, so that the tool center point can move according to the specified path and posture in the workpiece coordinate space.

[0050] The machine tool 1 of the present invention utilizes a casting body, which features a lightweight and rigid structure, enabling rapid and precise position changes. The machine tool 1 implements a rotating tool center point (RTCP) interpolation linkage function involving all six axes. This means that, in addition to the five axes (XYZAB), the toolhead's rotational axis (B-axis) is also factored into the RTCP linkage interpolation calculation, enabling the tool tip to move along a specified path and posture in the workpiece coordinates. The inclusion of the B-axis 6 in the interpolation algorithm increases the redundancy of posture changes, reduces the rotational positions of the A-axis 5 and the C-axis 9 during these changes, and improves machining efficiency. Furthermore, the addition of the B-axis 6 makes positions and postures that are difficult to machine with standard five-axis linkage machine tools possible.

[0051] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage, including a machine tool installed on a base, characterized in that: The described machine tool is equipped with linear motion axes, rotary motion axes, a rotary tool disc, and a workpiece mounting disc. The linear motion axes include the X-axis, Y-axis, and Z-axis. The rotary motion axes include the A-axis, B-axis, and C-axis. The X-axis is located on the machine tool, the Y-axis is located on the base, the Z-axis is located in front of the X-axis, the A-axis is located above the Y-axis, the B-axis is located in front of the Z-axis, the C-axis is located below the A-axis, the workpiece mounting disc is located on the C-axis, and the rotary tool disc is located on the B-axis.

2. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 1, wherein The X-axis is provided with an X-axis lead screw, and an X-axis motor is provided at the end of the X-axis lead screw. The X-axis is driven by the X-axis motor to move horizontally back and forth; the Y-axis is provided with a Y-axis lead screw, and a Y-axis motor is provided at the end of the Y-axis lead screw. The Y-axis is driven by the Y-axis motor to move longitudinally back and forth; the Z-axis is provided with a Z-axis lead screw, and a Z-axis motor is provided at the end of the Z-axis lead screw. The Z-axis is driven by the Z-axis motor to move up and down reciprocally.

3. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 2, wherein, The Y-axis assembly including the Y-axis further includes a Y-axis base connected to the Y-axis. The Y-axis assembly is connected to the base through the Y-axis base, and the base has a longitudinal accommodation space for installing the Y-axis assembly.

4. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 3, characterized in that, A first linear guide rail and a first slider sliding along the first linear guide rail are provided on the Y-axis assembly. The AC-axis assembly including the A-axis and the C-axis is mounted on the first slider of the first linear guide rail. An A-axis base with a concave accommodation space is provided in the AC assembly. Cradles are hung and installed on the two side frames of the A-axis base, and the concave accommodation space is divided into upper and lower parts by the cradles. The A-axis is located at the connection between the cradle and the A-axis base. The C-axis penetrates through the central part of the cradle vertically. A workpiece mounting disc is provided at the end of the C-axis, and a workpiece positioning groove is provided on the workpiece mounting disc.

5. The CNC rough machining and grinding equipment with full six-axis space interpolation linkage according to claim 4, characterized in that, The A-axis is connected to an A-axis motor, and an A-axis RV reducer is provided between the A-axis motor and the A-axis; the C-axis is connected to a C-axis motor, and a C-axis RV reducer is provided between the C-axis motor and the C-axis.

6. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 2, characterized in that, The X-axis assembly including the X-axis is installed on the column of the machine tool. The X-axis assembly further includes a second linear guide rail and a second slider sliding along the second linear guide rail. The Z-axis assembly including the Z-axis is installed on the second slider. The Z-axis assembly further includes a third linear guide rail and a third slider sliding along the third linear guide rail. The B-axis assembly including the B-axis is installed on the third slider.

7. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 6, characterized in that, One end of the B-axis is connected to a B-axis motor, and a B-axis RV reducer is provided between the B-axis motor and the B-axis. The other end of the B-axis is connected to a rotary tool disc, and the rotary tool disc rotates under the drive of the B-axis.

8. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage as described in claim 1, wherein Rough machining tools and cutting tools are provided on the rotary tool disc. The rough machining tools include an electric spindle and / or a floating spindle. The cutting tools include an alloy milling cutter, a file, a wire brush, or a hundred-leaf wheel.

9. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage according to claim 8, characterized in that, The electric main shaft is annular. The electric main shaft includes electric main shaft one, electric main shaft two and electric main shaft three. Electric main shaft one, electric main shaft two, electric main shaft three and the floating main shaft are respectively located at the annular edge of the electric main shaft and are arranged in a cross shape. Electric main shaft two and electric main shaft three are on the same horizontal line, and electric main shaft one and the floating main shaft are on another vertical line.

10. The CNC rough machining and grinding equipment with full six-axis spatial interpolation linkage according to claim 9, characterized in that, The rotary tool disc is a multi-station tool disc, and the multi-station tool disc has four or six tool positions; an adjustable micro spray device is also provided on the Z-axis.

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