Machine tool with internal constraint structure

Abstract

Disclosed in the present invention is a machine tool with an inner constraint structure. The machine tool comprises: a machine tool spindle, wherein at least two guide rails are provided in each of an X-axis direction, a Y-axis direction and a Z-axis direction; the at least two guide rails in the same axis direction include at least one pair of guide rails which are not in the same coordinate plane, and these guide rails form an inner constraint space; and an overlapping region of at least two inner constraint spaces is a motion space, which is a motion area for a tool tip point of the machine tool spindle during machining. The present invention optimizes the guide rail layout by arranging, in each of the three axis directions, at least two guide rails which are not in the same coordinate plane, and uses the guide rails to internally constrain the movement of a machine tool component, such that the tool tip point is always located in an enclosed space, thereby effectively constraining the movement of the tool tip point in each axis direction, lowering the impact of a cutting force and reducing the micro-displacement. The impact of a tilting moment on the machine tool spindle is effectively avoided, the vibration and deformation are suppressed, and the machining precision is ensured.

Description

A machine tool with an internal constraint structure Technical Field

[0001] This invention relates to the field of machine tool technology, and more particularly to a machine tool with an internal constraint structure. Background Technology

[0002] As the cornerstone of modern equipment manufacturing, CNC machine tools bear the strategic mission of providing key basic equipment for the manufacturing industry. Against the backdrop of the rapid development of high-end equipment manufacturing, the machine tool industry urgently needs to overcome the performance bottlenecks of precision manufacturing technology. Especially in high-end manufacturing fields such as aerospace and precision instruments, with the exponential growth in demand for ultra-precision machining, the requirements for the dynamic stability and machining accuracy of machine tools have approached physical limits. Research shows that when machining accuracy enters the sub-micron level, the sensitivity of the machine tool structure to force response will increase non-linearly. Particularly during machine tool cutting, the dynamic cutting force borne by the tool system exhibits significant time-varying characteristics and multi-degree-of-freedom coupling features. Under ultra-hard tool machining conditions, the instantaneous peak cutting force generated in the tool-workpiece contact area can reach over 1,000 Newtons. This high-frequency alternating load will induce a three-dimensional dynamic response of the machine tool structure. The overturning moment induced by the cutting torque at the spindle-spindle mounting structure (beam, column, etc.) joint surface can cause micro-displacement of the tool cutting point, resulting in micron-level pose shifts in the tool system. This "butterfly effect" in precision machining not only directly affects the quality of the finished product, but also causes a systematic decline in machining accuracy through the error propagation mechanism.

[0003] Therefore, how to effectively control the impact of cutting force on machine tools in order to improve the machining accuracy of machine tools has become a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This invention provides a machine tool with an internal constraint structure to effectively control the influence of cutting force on the machine tool.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A machine tool with an internal constraint structure includes: a machine tool spindle, and further includes:

[0007] XY coordinate plane, YZ coordinate plane and ZX coordinate plane;

[0008] The XY coordinate plane is a plane perpendicular to the Z-axis direction;

[0009] The YZ coordinate plane is a plane perpendicular to the X-axis direction;

[0010] The ZX coordinate plane is a plane perpendicular to the Y-axis direction;

[0011] At least two guide rails are provided in the X-axis, Y-axis and Z-axis directions, and at least one pair of guide rails that are not in the same coordinate plane exist in the same direction.

[0012] Each pair of X-guides that are not in the same coordinate plane contains two XY coordinate planes and two ZX coordinate planes, which form an X-direction partition space. The union of the X-direction partition spaces forms an X-direction inner constraint space.

[0013] Each pair of Y-guides that are not in the same coordinate plane contains two XY coordinate planes and two YZ coordinate planes, which form a Y-direction partition space. The union of the Y-direction partition spaces forms the Y-direction inner constraint space.

[0014] Each pair of Z-guides that are not in the same coordinate plane contains two ZX coordinate planes and two YZ coordinate planes, which form a Z-direction partition space. The union of the Z-direction partition spaces forms the Z-direction inner constraint space Z1.

[0015] The region in which at least two of the X-direction inward constraint space, Y-direction inward constraint space and Z-direction inward constraint space Z1 overlap is the motion space, which is the motion area of ​​the tool tip of the machine tool spindle during the machining process.

[0016] Preferably, the motion space is the overlapping region of the X-direction inward constraint space, the Y-direction inward constraint space, and the Z-direction inward constraint space Z1.

[0017] Preferably, a first motion plane is formed between a pair of guide rails on the same axis but not in the same coordinate plane. During the machining process, the tool tip of the machine tool spindle can coincide with at least one of the first motion planes on the same axis.

[0018] Preferably, at least three guide rails are provided in at least one of the X-axis, Y-axis and Z-axis directions.

[0019] Preferably, the prism-shaped space formed by the guide rails as edges in the direction of at least three guide rails is the guide rail constraint space, and the guide rail constraint space replaces the inner constraint space in the corresponding axis to form the motion space.

[0020] Preferably, it also includes an angle head, and a first motion plane is formed between two guide rails on the same axis but not in the same coordinate plane. During the processing, the swing axis of the angle head intersects with at least one of the first motion planes on the same axis, and the tip of the angle head coincides with the intersection point.

[0021] Preferably, the angle head is a single pendulum angle head, and during the processing, the pendulum axis of the angle head is located in the first motion plane in at least one axial direction.

[0022] Preferably, the angle head is a double-swing angle head, and during the processing, the swing axis of the angle head is located in the first motion plane in at least one axial direction.

[0023] Preferably, the angle head is a non-orthogonal angle head, and the tip of the non-orthogonal angle head is located on the swing axis of the non-orthogonal angle head.

[0024] Preferably, there is an angle between the mounting surface of the angle head and the XY coordinate plane.

[0025] Preferably, the system further includes a turntable, which can fix the workpiece, and during the processing, the rotation center of the workpiece is located within the motion space.

[0026] Preferably, the turntable is a dual-axis turntable, which can fix the workpiece, and during the processing, the envelope of the part of the workpiece to be processed is within the motion space.

[0027] Preferably, the machine tool is a milling and turning machine tool, which includes a workpiece spindle that can fix the workpiece. During the machining process, the envelope of the part of the workpiece to be machined is within the motion space.

[0028] Preferably, the machine tool is a milling machine, which includes a rotary table and a tilting milling head. The rotary table can fix the workpiece. During the machining process, the tip of the tilting milling head is within the envelope of the part of the workpiece to be machined and is located within the motion space. Beneficial effects:

[0029] This application discloses a machine tool with an internal constraint structure. By providing at least one pair of guide rails not in the same coordinate plane in the X, Y, and Z directions, at least two of the X-direction, Y-direction, and Z-direction internal constraint spaces formed by the guide rails in the X, Y, and Z directions can intersect to form a closed motion space. This optimizes the guide rail structure layout and uses the guide rails to internally constrain the movement of the machine tool components, ensuring that the tool tip remains within the closed motion space during machining. This effectively constrains the tool tip in the X, Y, and Z directions, significantly reducing the impact of cutting forces on the tool tip and thus minimizing the micro-displacement of the tool tip. It also effectively avoids the overturning moment affecting the machine tool spindle during operation, suppresses vibration and deformation, and ensures the machining accuracy of the machine tool. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is a schematic diagram of a machine tool with an internal constraint structure disclosed in Embodiment 1 of the present invention;

[0032] Figure 2 is a schematic diagram of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0033] Figure 3 is a side view of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0034] Figure 4 is a front view of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0035] Figure 5 is a top view of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0036] Figure 6 is a schematic diagram of the bed structure of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0037] Figure 7 is a schematic diagram of the crossbeam structure of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0038] Figure 8 is a schematic diagram of the slide saddle of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0039] Figure 9 is a schematic diagram of the X-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0040] Figure 10 is a schematic diagram of the Y-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0041] Figure 11 is a schematic diagram of the decomposition of Figure 10;

[0042] Figure 12 is a second exploded view of Figure 10;

[0043] Figure 13 is a schematic diagram of the Z-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0044] Figure 14 is a schematic diagram of the guide rail constraint space in the Y-axis direction of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0045] Figure 15 is a schematic diagram of the guide rail constraint space in the Z-axis direction of a machine tool with an internal constraint structure disclosed in Embodiment 2 of the present invention;

[0046] Figure 16 is a schematic diagram of the cooperation between the tilting milling head and the slide of a machine tool with an internal constraint structure disclosed in Embodiment 3 of the present invention;

[0047] Figure 17 is a schematic diagram of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0048] Figure 18 is a front view of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0049] Figure 19 is a side view of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0050] Figure 20 is a top view of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0051] Figure 21 is a schematic diagram of the Y-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0052] Figure 22 is a schematic diagram of the X-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0053] Figure 23 is a schematic diagram of the Z-direction internal constraint space of a machine tool with an internal constraint structure disclosed in Embodiment 5 of the present invention;

[0054] Figure 24 is a schematic diagram of the structure of a machine tool with an internal constraint structure disclosed in Embodiment 7 of the present invention.

[0055] In the diagram: 1. Bed; 11. Main body; 12. Support column; 2. Swivel milling head; 21. Mounting end; 22. Tool clamping end; 23. Mounting surface; 3. Crossbeam; 31. First main body; 32. Second main body; 33. Side wall; 34. Side wall; 4. Saddle; 41. Frame; 42. First extension; 43. Second extension; 44. First support plate; 45. Second support plate; 46. Third support plate; 47. Top plate; 5. Ram; 6. Turntable; 71. First X-axis guide rail; 72. Second X-axis guide rail; 73. Third X-axis guide rail; 81. First Y-axis guide rail; 82. Second Y-axis guide rail; 83. Third Y-axis guide rail; 84. Fourth Y-axis guide rail; 91. First Z-axis guide rail; 92. Second Z-axis guide rail; 93. Third Z-axis guide rail; 10. Workpiece spindle; A1, First motion plane; A2, Second motion plane; A3, Third motion plane; A4, Fourth motion plane; X1, X-direction inward constraint space; Y1, Y-direction inward constraint space; Y11, First Y-direction subspace; Y12, Second Y-direction subspace; Y13, Third Y-direction subspace; Y14, Fourth Y-direction subspace; Z1, Z-direction inward constraint space; Z11, First Z-direction subspace; Z12, Second Z-direction subspace; Z13, Third Z-direction subspace; N, Motion space. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Machine tool accuracy is affected by a variety of factors, including its structural design, drive and control systems, thermal errors, tool wear, and measurement and feedback systems. To improve machine tool accuracy, one can address these aspects or take comprehensive measures. Since the structural design of the machine tool is fundamental, optimizing its structure is the primary task for improving accuracy.

[0058] Currently, machine tools are mainly classified into horizontal machine tools, vertical machine tools, and gantry machine tools. The various components of these machine tools are connected in sequence to form an open chain structure, which inevitably leads to the formation of a cantilever structure for the machine tool spindle. However, the cutting force borne by the tool tip during machining is mainly applied to the connection between it and the adjacent components. This means that the rigidity of the machine tool will directly affect the stress state of the tool tip and the stability of machining accuracy.

[0059] Existing machine tool structures mainly improve the overall rigidity of the machine tool by enhancing the static rigidity of each component. However, in practical applications, it has been found that the dynamic rigidity of the machine tool components is insufficient under the influence of cutting force, gravity, and acceleration. This results in irregular micro-displacements at the tool tip, which significantly affects the machining accuracy of the machine tool. This makes us realize that improving the dynamic rigidity of the machine tool is particularly important for improving its machining accuracy.

[0060] Machine tools include linear motion axes and rotary axes to machine complex parts. This necessitates that the components of the linear axes be connected and supported by guide rails, which bear the forces and ensure motion accuracy. During machining, insufficient dynamic stiffness of the guide rails can lead to deformation, directly affecting the machining accuracy and reducing machining quality. This means that the dynamic stiffness of the machine tool largely depends on the dynamic stiffness of the guide rails. In other words, higher dynamic stiffness results in less impact on machining accuracy, while lower dynamic stiffness has a greater impact. However, due to limitations in material mechanics, improvements to guide rail dynamic stiffness are limited. Therefore, we need to address this issue from other angles to enhance guide rail dynamic stiffness.

[0061] Research and analysis revealed that current machine tool components typically employ dual guideways for linear motion support. Since these dual guideways are located in the same plane, they are susceptible to overturning moments during operation, leading to vibration and deformation, which is detrimental to the precision machining of the entire machine tool. Therefore, this application aims to improve the dynamic stiffness of the guideways by optimizing the machine tool's structural layout and guideway arrangement, thereby enhancing the overall rigidity of the machine tool.

[0062] Example 1

[0063] A machine tool with an internal constraint structure, as shown in Figure 1, includes: a machine tool spindle, and further includes:

[0064] XY coordinate plane, YZ coordinate plane and ZX coordinate plane;

[0065] The XY coordinate plane is a plane perpendicular to the Z-axis direction;

[0066] The YZ coordinate plane is a plane perpendicular to the X-axis direction;

[0067] The ZX coordinate plane is a plane perpendicular to the Y-axis direction;

[0068] At least two guide rails are provided in the X-axis, Y-axis and Z-axis directions, and at least one pair of guide rails that are not in the same coordinate plane exist in the same direction.

[0069] Each pair of X-guides that are not in the same coordinate plane contains two XY coordinate planes and two ZX coordinate planes, which form an X-direction subspace. The union of the X-direction subspaces forms the X-direction inner constraint space X1.

[0070] Each pair of Y-guides that are not in the same coordinate plane contains two XY coordinate planes and two YZ coordinate planes, which form a Y-direction partition space. The union of the Y-direction partition spaces forms the Y-direction inner constraint space Y1.

[0071] Each pair of Z-guides that are not in the same coordinate plane contains two ZX coordinate planes and two YZ coordinate planes, which form a Z-direction partition space. The union of the Z-direction partition spaces forms the Z-direction inner constraint space Z1.

[0072] The region in which at least two of the X-direction inward constraint space X1, Y-direction inward constraint space Y1, and Z-direction inward constraint space Z1 overlap is the motion space N, which is the motion region of the tool tip of the machine tool spindle during the machining process.

[0073] In this embodiment, to facilitate the construction of various spaces and planes, the guide rail needs to be conceptualized as a line within the space, serving as a reference for the construction of spaces and planes;

[0074] Specifically, when the area of ​​the guide rail used to support machine tool components is the guide rail surface of the guide rail itself (taking Figure 4 as an example, the first X guide rail 71 in Figure 4 meets this working condition), the guide rail can be conceptualized as the center line of the guide rail surface;

[0075] When the area of ​​the guide rail used to support machine tool components is the edge line on both sides of the guide rail surface itself (taking Figure 4 as an example, the second X guide rail 72 in Figure 4 meets this working condition), the guide rail can be conceptualized as the edge line of the guide rail surface.

[0076] In this embodiment, the coordinate planes include the XY coordinate plane, the YZ coordinate plane, and the ZX coordinate plane;

[0077] The XY coordinate plane is a plane parallel to the XY plane, mathematically called the z=k plane, whose normal vector is the same as that of the standard XY plane, where k is a constant;

[0078] The YZ coordinate plane is a plane parallel to the YZ plane, mathematically called the x=k plane, whose normal vector is the same as that of the standard YZ plane, where k is a constant;

[0079] The ZX coordinate plane is a plane parallel to the ZX plane, mathematically called the y=k plane, whose normal vector is the same as that of the standard ZX plane, where k is a constant.

[0080] For the guide rails in the X-axis direction, the constant k corresponding to the two XY coordinate planes (z=k plane) where the two X guide rails are not in the same coordinate plane are not equal.

[0081] For each pair of X-guides that are not in the same coordinate plane, the two ZX coordinate planes (y=k plane) where they are located have different constants k.

[0082] The X-axis partition space is a quadrangular prism space with open ends, enclosed by two XY coordinate planes and two ZX coordinate planes where each pair of X-axis guides that are not in the same coordinate plane are located.

[0083] When the number of X-guides is equal to 2, there is only one pair of X-guides that are not in the same coordinate plane. Therefore, there is only one X-direction partition space. At this time, the X-direction inner constraint space X1 is equal to the X-direction partition space.

[0084] When the number of X-guide trajectories is greater than 2, each additional pair of X-guide trajectories that are not in the same coordinate plane will add an X-direction subspace. At this time, the X-direction inner constraint space X1 is equal to the union of multiple X-direction subspaces.

[0085] For guide rails in the Y-axis direction, the constant k corresponding to the two XY coordinate planes (z=k plane) where each pair of Y guide rails is not in the same coordinate plane is not equal.

[0086] For each pair of Y-guides that are not in the same coordinate plane, the two YZ coordinate planes (x = k plane) where they are located have different constants k.

[0087] The Y-axis partition space is a quadrangular prism space with open ends, enclosed by two XY coordinate planes and two YZ coordinate planes where each pair of Y-guides that are not in the same coordinate plane are located.

[0088] When the number of Y-guides is equal to 2, there is only one pair of Y-guides that are not in the same coordinate plane. Therefore, there is only one Y-direction partition space. At this time, the Y-direction inner constraint space Y1 is equal to the Y-direction partition space.

[0089] When the number of Y-guides is greater than 2, each additional pair of Y-guides that are not in the same coordinate plane will add a corresponding Y-direction subspace. At this time, the Y-direction inner constraint space Y1 is equal to the union of multiple Y-direction subspaces.

[0090] For guide rails in the Z-axis direction, the constant k corresponding to the two ZX coordinate planes (y=k plane) where each pair of Z guide rails is not in the same coordinate plane is not equal.

[0091] For each pair of Z-guides that are not in the same coordinate plane, the two ZY coordinate planes (x = k plane) have different constants k.

[0092] The Z-axis partition space is a quadrangular prism space with open ends, enclosed by two ZX coordinate planes and two YZ coordinate planes where each pair of Z-guides that are not in the same coordinate plane are located.

[0093] When the number of Z-guides is equal to 2, there is only one pair of Z-guides that are not in the same coordinate plane. Therefore, there is only one Z-part space. At this time, the Z-inner constraint space Z1 is equal to the Z-part space.

[0094] When the number of Z-guides is greater than 2, each additional pair of Z-guides that are not in the same coordinate plane will add a corresponding Z-axis subspace. At this time, the Z-axis inner constraint space Z1 is equal to the union of multiple Z-axis subspaces.

[0095] The motion plane is established by adopting the aforementioned method of conceptualizing the guide rail as a line in space. The plane formed by the conceptualization of two guide rails that are not in the same coordinate plane along the same axis is the motion plane.

[0096] Although both use lines formed by the conceptualization of guideways as the reference for establishing space, compared to the inner constraint space of a quadrangular prism formed by coordinate surfaces, the guideway constraint space in the corresponding direction, which is enclosed by the connection of constraint surfaces, allows the tool tip to be completely within the bounded area of ​​the guideway, resulting in a better constraint effect. This further reduces the influence of cutting force on the tool tip and reduces the micro-displacement of the tool tip.

[0097] The tool tip point is the point that the tool tip of the machine tool spindle needs to reach.

[0098] This application optimizes the guide rail structure layout by setting at least one pair of guide rails not in the same coordinate plane in the X, Y, and Z directions. This ensures that at least two of the X-direction, Y-direction, and Z-direction internal constraint spaces formed by the guide rails intersect, forming a closed motion space. By using the guide rails to internally constrain the movement of machine tool components, the tool tip remains within the closed motion space during machining. This effectively constrains the tool tip in the X, Y, and Z directions, significantly reducing the impact of cutting forces on the tool tip and thus minimizing its micro-displacement. It also effectively avoids the overturning moment affecting the machine tool spindle during operation, suppressing vibration and deformation, and ensuring the machining accuracy of the machine tool.

[0099] Preferably, the motion space is the overlapping region of the X-direction inward constraint space X1, the Y-direction inward constraint space Y1, and the Z-direction inward constraint space Z1.

[0100] By merging the X-axis inward constraint space X1, the Y-axis inward constraint space Y1, and the Z-axis inward constraint space Z1 to form a closed motion space, the tool tip can remain within this closed space throughout its movement in the three directions during machining. During machining, the cutting force on the tool tip is confined within this motion space. A pair of guide rails, not lying on the same coordinate plane, consistently support the tool tip from both ends, optimizing the force on the guide rails. Simultaneously, the machine tool components moving in the three axes also maintain support at both ends, optimizing the force on the guide rails and providing support and limitation for the machine tool components. Ultimately, this structural layout eliminates weak points and areas with insufficient dynamic stiffness, thereby improving the overall rigidity of the machine tool, reducing the micro-displacement of the tool tip, avoiding the influence of overturning moments, suppressing vibration and deformation, and ensuring the machining stability of the tool tip.

[0101] At the same time, the improvement of dynamic stiffness can also reduce the wear and aging of machine tools, ensure the machining accuracy of machine tools, and extend the service life of machine tools.

[0102] Furthermore, since the motion space N is formed by the guide rails, the motion space N must be between a pair of guide rails that are not in the same coordinate plane in the three axes. This means that the motion area must be located inside the machine tool's support structure. Compared with the existing machine tool's support structure (bed, support column, slide saddle, and slide ram, etc.), which can only provide support outside the motion area of ​​the tool tip, the machine tool of this application can reduce its volume and weight when achieving the same size machining area, thereby improving the overall rigidity of the machine tool and reducing its cost.

[0103] Preferably, a first motion plane A1 is formed between a pair of guide rails on the same axis but not in the same coordinate plane. During the machining process, the tool tip of the machine tool spindle can coincide with at least one of the first motion planes A1 on the same axis.

[0104] When the tool tip coincides with the first motion plane A1, the first motion plane A1 supports the tool tip, and the tool tip will not form a cantilever structure relative to the first motion plane A1, thus ensuring that the tool tip maintains stable accuracy during the machining of the plane.

[0105] Preferably, at least three guide rails are provided in at least one of the X-axis, Y-axis, and Z-axis directions. Providing at least three guide rails enables over-positioning, and by adding additional positioning constraints, restricts the degrees of freedom of the guide rails in multiple directions. This allows the guide rails to withstand greater lateral and torsional forces, improving their dynamic stiffness and reducing positioning errors caused by guide rail loosening or deformation. Furthermore, it increases the support points for the connected machine tool components, improving the dynamic stiffness of the corresponding machine tool components. Simultaneously, it ensures consistency in each positioning, improves repeatability, and meets the requirements of high-precision machining.

[0106] Preferably, a prismatic space formed by the guide rails as edges along the direction of at least three guide rails is used as the guide rail constraint space. This guide rail constraint space replaces the inner constraint space along the corresponding axis to form the motion space. Constraint surfaces are formed between adjacent guide rails, and multiple constraint surfaces are connected to form a prismatic guide rail constraint space in the corresponding direction.

[0107] The constraint surface is established by adopting the aforementioned method of conceptualizing the guide rails as lines in space. At least three guide rails are set in the direction of the lines formed by the conceptualization of two adjacent guide rails. The plane in which they are located is the constraint surface.

[0108] The constraint surfaces are connected to form a guide rail constraint space in the corresponding direction, which is a prism-shaped space formed by lines formed by conceptualization as edges;

[0109] Along the same axis, the guide rail constraint space is located within the inner constraint space. Although both are based on the lines formed by the conceptualization of the guide rail as the reference for establishing the space, compared to the quadrangular prism inner constraint space formed by coordinate surfaces, the guide rail constraint space in the corresponding direction, which is enclosed by the connection of constraint surfaces, allows the tool tip to be completely within the bounded area of ​​the guide rail. The tool tip will not form a cantilever structure with respect to the guide rail in this direction, resulting in a better constraint effect. This further improves the dynamic stiffness of the tool tip, reduces the influence of cutting force on the tool tip, and reduces the micro-displacement of the tool tip.

[0110] Preferably, the system also includes an angle head. A first motion plane A1 is formed between two guide rails on the same axial direction but not in the same coordinate plane. During machining, the swing axis of the angle head intersects with at least one of the first motion planes A1 on an axial direction, and the cutting tip of the angle head coincides with this intersection point. When the cutting tip of the angle head coincides with the intersection point, the first motion plane A1 provides support for the cutting tip, preventing the cutting tip from forming a cantilever structure relative to the first motion plane A1. This reduces the impact of cutting force on the displacement of the cutting tip relative to the swing axis, thereby ensuring the stability of the cutting tip's accuracy during machining.

[0111] Preferably, the angle head is a single-swing angle head. During the machining process, the swing axis of the angle head is located within the first motion plane A1 in at least one axial direction, so that the first motion plane A1 supports the swing axis, reducing the influence of cutting force on the swing axis and the tool tip, thereby maintaining stable accuracy during the machining process.

[0112] Preferably, the angle head is a double-swing angle head, and during the processing, the swing axis of the angle head is located within the first motion plane A1 in at least one axial direction.

[0113] Preferably, the angle head is a non-orthogonal angle head, and the tip of the non-orthogonal angle head is located on the swing axis of the non-orthogonal angle head. Specifically, the non-orthogonal angle head is a 45° angle head.

[0114] Preferably, there is an angle between the mounting surface of the angle head and the XY coordinate plane, which reduces the distance from the tip to the mounting surface, decreases the cantilever length of the tip relative to the mounting surface, and thus improves the rigidity of the angle head.

[0115] Preferably, the system also includes a turntable 6, which can fix the workpiece. During the processing, the rotation center of the workpiece is located within the motion space. The turntable 6 is used to fix the workpiece to facilitate the processing of complex shapes.

[0116] Preferably, the turntable is a dual-axis turntable, which can fix the workpiece, and during the processing, the envelope of the part of the workpiece to be processed is within the motion space.

[0117] The envelope of a workpiece is composed of a series of feature lines, which are the trajectories of the points where the cutting tool is tangent to the workpiece surface during machining. As the cutting tool moves along a certain trajectory, these feature lines continuously change and eventually form the envelope of the workpiece.

[0118] Example 2

[0119] This embodiment provides a machine tool with an internal constraint structure, as shown in Figures 2 to 5, including: a machine tool spindle, a rotary table 6, and a bed 1. As shown in Figure 1, it also includes:

[0120] XY coordinate plane, YZ coordinate plane and ZX coordinate plane;

[0121] The XY coordinate plane is a plane perpendicular to the Z-axis direction;

[0122] The YZ coordinate plane is a plane perpendicular to the X-axis direction;

[0123] The ZX coordinate plane is a plane perpendicular to the Y-axis direction;

[0124] At least two guide rails are provided in the X-axis, Y-axis and Z-axis directions, and at least one pair of guide rails that are not in the same coordinate plane exist in the same direction.

[0125] Each pair of X-guides that are not in the same coordinate plane contains two XY coordinate planes and two ZX coordinate planes, which form an X-direction subspace. The union of the X-direction subspaces forms the X-direction inner constraint space X1.

[0126] Each pair of Y-guides that are not in the same coordinate plane contains two XY coordinate planes and two YZ coordinate planes, which form a Y-direction partition space. The union of the Y-direction partition spaces forms the Y-direction inner constraint space Y1.

[0127] Each pair of Z-guides that are not in the same coordinate plane contains two ZX coordinate planes and two YZ coordinate planes, which form a Z-direction partition space. The union of the Z-direction partition spaces forms the Z-direction inner constraint space Z1.

[0128] The region in which at least two of the X-direction inward constraint space X1, Y-direction inward constraint space Y1, and Z-direction inward constraint space Z1 overlap is the motion space N. The motion space N is the motion region of the tool tip of the machine tool spindle during the machining process. The tool tip is the point that the tool tip of the machine tool spindle needs to reach.

[0129] The rotary table 6 is fixed on the bed 1, and the machine tool spindle is set on the bed 1 through X-guide rails and / or Y-guide rails. Through the linear displacement of the machine tool spindle, the workpiece on the rotary table 6 coincides with the motion space N.

[0130] This embodiment provides a machine tool with an internal constraint structure. By setting at least one pair of guide rails (two guide rails forming a pair) in the X, Y, and Z axes respectively, at least two of the X-axis, Y-axis, and Z-axis internal constraint spaces X1, Y1, and Z1 formed by the guide rails can intersect to form a closed motion space N. This optimizes the guide rail structure layout and uses the guide rails to internally constrain the movement of the machine tool components, ensuring that the tool tip remains within the closed motion space N during machining. This effectively constrains the tool tip in the X, Y, and Z axes, significantly reducing the impact of cutting forces on the tool tip and thus minimizing the micro-displacement of the tool tip. It also effectively avoids the overturning moment affecting the machine tool spindle during operation, suppresses vibration and deformation, and ensures the machining accuracy of the machine tool.

[0131] The machine tool spindle is mounted on the bed 1 via guide rails. Through the linear displacement of the machine tool spindle, the workpiece fixed on the rotary table 6 of the bed 1 can be aligned with the motion space N. During the machining process, the workpiece does not need to undergo reciprocating linear displacement, reducing the influence of workpiece inertia and thus improving the stability of the machining process.

[0132] In a specific embodiment, as shown in FIG4, a first motion plane A1 is formed between two guide rails on the same axis but not in the same coordinate plane;

[0133] During the machining process, the tool tip can coincide with at least one of the first motion planes A1 in the axial direction.

[0134] The first motion plane A1 is a motion plane. When the tool tip coincides with the first motion plane A1, the first motion plane A1 supports the tool tip. The tool tip will not form a cantilever structure relative to the first motion plane A1, thus ensuring that the tool tip maintains stable accuracy during the machining of the plane.

[0135] In a specific embodiment, as shown in FIG4, a first motion plane A1 is formed between two guide rails on the same axis but not in the same coordinate plane;

[0136] In at least one axial direction, the first motion plane A1 can pass through the workpiece on the turntable 6.

[0137] The first motion plane A1 supports the workpiece, reducing the impact of cutting force on the workpiece position, thereby maintaining stable accuracy during machining.

[0138] In a specific embodiment, the machine tool spindle is mounted on the bed 1 via X-axis guide rails, Y-axis guide rails and Z-axis guide rails, enabling the machine tool spindle to perform linear displacement along the X-axis, Y-axis and Z-axis directions.

[0139] In a specific embodiment, as shown in FIG6, the bed 1 includes a main body 11 and a support column 12 fixed on the main body 11, and two Y-guide rails not in the same coordinate plane are respectively arranged on the main body 11 and the support column 12.

[0140] In this embodiment, both the main body 11 and the support column 12 are provided with two Y-guide rails;

[0141] Specifically, the main body 11 is provided with a third Y-guide rail 83 and a fourth Y-guide rail 84, and the support column 12 is provided with a first Y-guide rail 81 and a second Y-guide rail 82.

[0142] Four Y-guide rails (first Y-guide rail 81, second Y-guide rail 82, third Y-guide rail 83 and fourth Y-guide rail 84) form four pairs of Y-guide rails that are not in the same coordinate plane, as shown in Figures 10 and 12, which constitute four Y-direction subspaces (first Y-guide rail 81 and third Y-guide rail 83 constitute the first Y-direction subspace Y11, second Y-guide rail 82 and fourth Y-guide rail 84 constitute the second Y-direction subspace Y12, second Y-guide rail 82 and third Y-guide rail 83 constitute the third Y-direction subspace Y13, first Y-guide rail 81 and fourth Y-guide rail 84 constitute the fourth Y-direction subspace Y14). The union of the four Y-direction subspaces is the Y-direction inner constraint space Y1.

[0143] As shown in Figure 14, the space enclosed by the four constraint surfaces formed by the four Y-axis guide rails is the guide rail constraint space in the Y-axis direction.

[0144] By setting part of the Y-guide rail on the support column 12, a stable and reliable support is provided for the Y-guide rail, which suppresses vibration and deformation and helps to ensure the dynamic stiffness of the Y-guide rail.

[0145] In a specific embodiment, as shown in Figures 2 to 5, a crossbeam 3 is also included. As shown in Figure 7, the crossbeam 3 includes a first body 31 and a second body 32 fixed on the first body 31.

[0146] The first main body 31 is disposed on the third Y guide rail 83 and the fourth Y guide rail 84 provided on the main body 11;

[0147] The second main body 32 is disposed on the first Y-guide rail 81 and the second Y-guide rail 82 provided on the support column 12;

[0148] Two X-guide rails that are not in the same coordinate plane are respectively set on the first body 31 and the second body 32;

[0149] In this embodiment, the crossbeam 3 is provided with two X-guide rails (first X-guide rail 71 and second X-guide rail 72), the first main body 31 is provided with the second X-guide rail 72, and the second main body 32 is provided with the first X-guide rail 71. The first X-guide rail 71 and the second X-guide rail 72 constitute an X-direction subspace, as shown in Figure 9. The X-direction subspace is equivalent to the X-direction inner constraint space X1.

[0150] In a specific embodiment, as shown in Figures 2 to 5, it also includes a slide saddle 4 and a slide ram 5. The slide ram 5 is mounted on the slide saddle 4 via a Z-guide rail, and the machine tool spindle is mounted on the slide ram 5.

[0151] The sliding saddle 4 is mounted on the X-guide rail provided on the crossbeam 3;

[0152] In this embodiment, as shown in FIG8, the sliding saddle 4 includes a frame 41, a first extension 42 and a second extension 43;

[0153] The slide ram 5 is installed inside the frame 41 via three Z-guide rails (first Z-guide rail 91, second Z-guide rail 92 and third Z-guide rail 93);

[0154] The first extension 42 extends from the frame 41 along the Z-axis direction, and the first extension 42 is disposed on the second X-guide rail 72 provided on the first main body 31.

[0155] The second extension 43 extends from the frame 41 along the X-axis direction, and the second extension 43 is disposed on the first X-guide rail 71 provided on the second main body 32;

[0156] By providing a first extension 42 and a second extension 43, the slide saddle 4 ensures that there is enough space at the bottom of the frame 41 to facilitate the layout of other machine tool components.

[0157] The first Z-guide rail 91, the second Z-guide rail 92, and the third Z-guide rail 93 form two pairs of Z-guide rails that are not in the same coordinate plane, as shown in Figure 13. They constitute two Z-direction subspaces (the first Z-direction subspace Z11 and the second Z-direction subspace Z12). The union of the two Z-direction subspaces is the Z-direction inner constraint space Z1.

[0158] As shown in Figure 15, the space enclosed by the three constraint surfaces formed by the three Z-axis guide rails 9 is the guide rail constraint space in the Z-axis direction.

[0159] In a specific embodiment, as shown in FIG7, the crossbeam 3 further includes a side wall 33 connecting the first body 31 and the second body 32;

[0160] The first main body 31, the second main body 32 and the side wall 33 form a space to accommodate the turntable 6 and the support column 12. This layout can not only make full use of the high static stiffness of the side wall 33 to provide stable support for the X guide rail, but also improve space utilization and reduce the overall space occupied by the machine tool.

[0161] Example 3

[0162] This embodiment provides a machine tool with an internal constraint structure. The main structure of this embodiment is the same as that of Embodiment 2. The difference between this embodiment and Embodiment 2 is as follows:

[0163] In this embodiment, the angle head is a swing milling head 2. A first motion plane A1 is formed between two guide rails on the same axis but not on the same coordinate plane, as shown in Figure 16. The swing milling head 2 is set on the slide ram 5. During the processing, the swing axis of the swing milling head 2 intersects with at least one of the first motion planes A1 on the axis, and the tip of the swing milling head 2 coincides with the intersection point.

[0164] In this embodiment, the tip of the tilting milling head 2 is the same concept as the tip of the machine tool spindle in Embodiment 1.

[0165] When the tip of the oscillating milling head 2 coincides with the first motion plane A1, the first motion plane A1 supports the tip, and the tip will not form a cantilever structure relative to the first motion plane A1, reducing the impact of cutting force on the displacement of the tip relative to the oscillating axis, thereby ensuring the stability of the tip's accuracy during the machining process.

[0166] Preferably, the swing angle milling head 2 can be a single swing angle milling head, and during the processing, the swing axis of the swing angle milling head 2 is located in the first motion plane A1 in at least one axial direction.

[0167] Preferably, the oscillating milling head 2 can be a double oscillating milling head, and during the machining process, the oscillation axis of the oscillating milling head 2 is located within the first motion plane A1 in at least one axial direction.

[0168] Preferably, the oscillating milling head 2 can be a non-orthogonal oscillating milling head, and the tip of the non-orthogonal oscillating milling head is located on the oscillation axis of the non-orthogonal oscillating milling head.

[0169] Example 4

[0170] This embodiment provides a machine tool with an internal constraint structure. The main structure of this embodiment is the same as that of Embodiment 2. The difference between this embodiment and Embodiment 2 is as follows:

[0171] In this embodiment, the turntable 6 is a dual-axis turntable. The turntable 6 can fix the workpiece, and the envelope of the part of the workpiece to be processed is within the motion space, ensuring that the part of the workpiece to be processed can be within the motion space during the processing. The turntable 6 can be a cradle turntable or a vertical / horizontal 90° indexing worktable, or other forms of dual-axis turntable.

[0172] Example 5

[0173] A machine tool with an internal constraint structure, as shown in Figures 17-23, includes: a machine tool spindle, a rotary table 6, and a bed 1, and further includes:

[0174] XY coordinate plane, YZ coordinate plane and ZX coordinate plane;

[0175] The XY coordinate plane is a plane perpendicular to the Z-axis direction;

[0176] The YZ coordinate plane is a plane perpendicular to the X-axis direction;

[0177] The ZX coordinate plane is a plane perpendicular to the Y-axis direction;

[0178] At least two guide rails are provided in the X-axis, Y-axis and Z-axis directions, and at least one pair of guide rails that are not in the same coordinate plane exist in the same direction.

[0179] Each pair of X-guides that are not in the same coordinate plane contains two XY coordinate planes and two ZX coordinate planes, which form an X-direction subspace. The union of the X-direction subspaces forms the X-direction inner constraint space X1.

[0180] Each pair of Y-guides that are not in the same coordinate plane contains two XY coordinate planes and two YZ coordinate planes, which form a Y-direction partition space. The union of the Y-direction partition spaces forms the Y-direction inner constraint space Y1.

[0181] Each pair of Z-guides that are not in the same coordinate plane contains two ZX coordinate planes and two YZ coordinate planes, which form a Z-direction partition space. The union of the Z-direction partition spaces forms the Z-direction inner constraint space Z1.

[0182] The region in which at least two of the X-direction inward constraint space X1, Y-direction inward constraint space Y1, and Z-direction inward constraint space Z1 overlap is the motion space N, which is the motion region of the tool tip of the machine tool spindle during the machining process.

[0183] The rotary table 6 is mounted on the bed 1 via X-axis guide rails and / or Y-axis guide rails. The linear displacement of the rotary table 6 causes the workpiece on the rotary table 6 to coincide with the motion space N.

[0184] This application optimizes the guide rail structure layout by setting at least one pair of guide rails not in the same coordinate plane in the X, Y, and Z directions. This ensures that at least two of the X-direction, Y-direction, and Z-direction internal constraint spaces formed by the guide rails intersect, forming a closed motion space N. By using the guide rails to internally constrain the movement of machine tool components, the tool tip remains within the closed motion space N during machining. This effectively constrains the tool tip in the X, Y, and Z directions, significantly reducing the impact of cutting forces on the tool tip and thus minimizing its micro-displacement. It also effectively avoids the overturning moment affecting the machine tool spindle during operation, suppressing vibration and deformation, and ensuring the machining accuracy of the machine tool.

[0185] Preferably, the milling head 2 is also included. The milling head 2 is a single-swing milling head. During the machining process, the swing axis of the milling head 2 is located in the first motion plane A1 in at least one axial direction, so that the first motion plane A1 supports the swing axis and reduces the influence of cutting force on the swing axis and the tool tip, thereby maintaining stable accuracy during the machining process.

[0186] Preferably, the oscillating milling head 2 is a double oscillating milling head, and during the machining process, the oscillation axis of the oscillating milling head 2 is located within the first motion plane A1 in at least one axial direction.

[0187] Preferably, the oscillating milling head 2 is a non-orthogonal oscillating milling head, and the tip of the non-orthogonal oscillating milling head is located on the oscillation axis of the non-orthogonal oscillating milling head. Specifically, the non-orthogonal oscillating head is a 45° oscillating head.

[0188] Preferably, the tilting milling head 2 is mounted on the bed 1 via Y-rails and Z-rails, and the rotary table 6 is mounted on the bed 1 via X-rails. The Y-rails include at least three rails, where a second motion plane A2 is formed between two Y-rails not in the same coordinate plane, and a third motion plane A3 is formed between one of the two Y-rails and any one of the remaining Y-rails. The second motion plane A2 and the third motion plane A3 pass through the mounting end 21 and the tool clamping end 22 of the tilting milling head 2, respectively. The second motion plane A2 and the third motion plane A3 support the mounting end 21 and the tool clamping end 22 of the tilting milling head 2, improving the dynamic stiffness of the tilting milling head 2, and providing better support for the mounting end 21 and the tool clamping end 22 during machining, reducing the impact of cutting forces on the mounting end 21 and the tool clamping end 22, thereby maintaining stable accuracy during machining.

[0189] The second motion plane A2 and the third motion plane A3 belong to the motion planes.

[0190] Preferably, the mounting surface 23 of the tilting milling head 2 has an angle with the XY coordinate plane, which reduces the distance from the tip to the mounting surface 23, decreases the cantilever length of the tip relative to the mounting surface 23, and thus improves the rigidity of the tilting head.

[0191] Preferably, the bed 1 is fixedly provided with a side wall 34, and a pair of X-guide rails not in the same coordinate plane are located on the bed 1 and the side wall 34 respectively. Setting part of the X-guide rails on the side wall 34 can provide stable and reliable support for the guide rails, suppress vibration and deformation, and help ensure the dynamic stiffness of the X-guide rails.

[0192] Preferably, at least three guide rails are arranged in the X-axis direction, among which a fourth motion plane A4 is formed between two X-axis guide rails that are not in the same coordinate plane. The fourth motion plane A4 passes through the workpiece on the turntable 6. The fourth motion plane A4 supports the workpiece, reduces the influence of cutting force on the workpiece position, and thus maintains stable accuracy during machining. The fourth motion plane A4 is a motion plane.

[0193] Preferably, the bed 1 is fixedly provided with a support column 12, the X-axis guide rail is located between the support column 12 and the side wall 34, and the top of the support column 12 and the side wall 34 is provided with a crossbeam 3. A pair of Y-axis guide rails that are not in the same coordinate plane are respectively located on the bed 1 and the crossbeam 3. This layout can make full use of the high static stiffness of the side wall 34, the support column 12 and the crossbeam 3 to provide stable support for the Y-axis guide rails. At the same time, it allows the turntable 6 to pass under the crossbeam 3 along the X-axis direction and enter the motion space N, which is beneficial for loading and unloading the machine tool.

[0194] In a specific embodiment, as shown in Figure 22, the X-guide rails include a first X-guide rail 71, a second X-guide rail 72, and a third X-guide rail 73. The first X-guide rail 71 and the second X-guide rail 72 are disposed on the side wall of the side wall 34, and the third X-guide rail 73 is disposed on the bed 1. The first X-guide rail 71 and the second X-guide rail 72 are located in the same coordinate plane, and the second X-guide rail 72 and the third X-guide rail 73 are located in the same coordinate plane. The first X-guide rail 71 and the third X-guide rail 73 are located in different coordinate planes. The first X-guide rail 71, the second X-guide rail 72, and the third X-guide rail 73 constitute an X-direction subspace, which is an X-direction internal constraint space X1.

[0195] Preferably, the system further includes a sliding saddle 4 and a sliding ram 5. The sliding saddle 4 is mounted on the crossbeam 3 via a Y-guide rail, and the sliding ram 5 is mounted on the sliding saddle 4 via a Z-guide rail. The sway milling head 2 is mounted on the sliding ram 5.

[0196] Preferably, of the two Y-guides not in the same coordinate plane, the Y-guide on the bed 1 is positioned below the Y-guide on the crossbeam 3; the two Z-guides not in the same coordinate plane are respectively located on the side of the ram 5 facing the crossbeam 3 and the side away from the crossbeam 3, with the bottom end of the Z-guide on the side of the ram 5 away from the crossbeam 3 positioned below the bottom end of the Z-guide on the side of the ram 5 facing the crossbeam 3; the mounting surface 23 of the tilting milling head 2 is located on the ram 5, and there is an angle between the mounting surface 23 of the tilting milling head 2 and the XY coordinate plane, with the angle being greater than 0° and less than 90°, and the distance between the mounting surface 23 and the Y-guide on the crossbeam 3 gradually increases along the Z-axis direction. This arrangement not only allows the second motion plane A2 to support the mounting surface 23 of the tilting milling head 2 and the tool tip, but also ensures that the tool tip can be lowered to a lower position, ensuring the machining stroke of the tool tip in the Z-axis direction.

[0197] In a specific embodiment, as shown in Figure 21, the Y-guide rails include a first Y-guide rail 81, a second Y-guide rail 82, and a third Y-guide rail 83. The first Y-guide rail 81 and the second Y-guide rail 82 are disposed on the side wall of the crossbeam 3, and the third Y-guide rail 83 is disposed on the bed 1. The first Y-guide rail 81 and the second Y-guide rail 82 are located in the same coordinate plane, while the third Y-guide rail 83 is not in the same coordinate plane as the first Y-guide rail 81 and the second Y-guide rail 82. The first Y-guide rail 81, the second Y-guide rail 82, and the third Y-guide rail 83 form two pairs of Y-guide rails that are not in the same coordinate plane, thereby constituting two Y-direction subspaces—the first Y-direction subspace Y11 and the second Y-direction subspace Y12. The union of the two Y-direction subspaces is the Y-direction inner constraint space Y1. The space enclosed by the three constraint surfaces formed by the three Y-guide rails is the guide rail constraint space in the Y-axis direction.

[0198] Preferably, the slide saddle 4 includes: a first support plate 44, a second support plate 45, a third support plate 46, and a top plate 47. The first support plate 44 is mounted on the crossbeam 3 via a Y-guide rail. The second support plate 45 is located on the side of the first support plate 44 away from the crossbeam 3. The third support plate 46 connects the first support plate 44 and the second support plate 45. The top plate 47 is located at the top of the first support plate 44, the second support plate 45, and the third support plate 46. The ram 5 is located between the first support plate 44 and the second support plate 45. The first support plate 44, the second support plate 45, the third support plate 46, the top plate 47, and the bed 1 block the ram 5 in five directions, which helps to improve the dynamic stiffness of the ram 5.

[0199] In a specific embodiment, as shown in Figure 23, the Z-guide rails include a first Z-guide rail 91, a second Z-guide rail 92, and a third Z-guide rail 93, all of which are mounted on the slide saddle 4. The first Z-guide rail 91 is mounted on the first support plate 44, the second Z-guide rail 92 is mounted on the second support plate 45, and the third Z-guide rail 93 is mounted on the third support plate 46. Any two of the first Z-guide rail 91, the second Z-guide rail 92, and the third Z-guide rail 93 are not in the same coordinate plane. The first Z-guide rail 91, the second Z-guide rail 92, and the third Z-guide rail 93 form three pairs of Z-guide rails that are not in the same coordinate plane, thus constituting three Z-axis sub-spaces—the first Z-axis sub-space Z11, the second Z-axis sub-space Z12, and the third Z-axis sub-space Z13. The union of the three Z-axis sub-spaces is the Z-axis internal constraint space Z1. The space enclosed by the three constraint surfaces formed by the three Z-guide rails is the guide rail constraint space in the Z-axis direction.

[0200] In a specific embodiment, the third support plate 46 is located on the side of the first support plate 44 and the second support plate 45 facing the side wall 34, that is, the third support plate 46 is located on the side of the slide ram 5. The tilting milling head 2 can turn to the side of the slide ram 5 away from the third support plate 46. Then, by moving the slide saddle 4 and cooperating with the tool magazine set on the bed 1, tool changing can be realized.

[0201] Example 6

[0202] The difference between this embodiment and embodiment 5 lies in the positional relationship between the tool tip of the machine tool spindle and the first motion plane A1 during the machining process.

[0203] Preferably, as shown in Figures 17, 18, and 22, a first motion plane A1 is formed between a pair of guide rails on the same axial direction but not in the same coordinate plane. During machining, the tool tip of the machine tool spindle can coincide with at least one of the first motion planes A1 on the axial direction. When the tool tip coincides with the first motion plane A1, the first motion plane A1 provides support for the tool tip, and the tool tip will not form a cantilever structure relative to the first motion plane A1, thereby ensuring the stability of the tool tip's accuracy during the machining of the plane.

[0204] In this embodiment, the tip of the tilting milling head 2 is the same as the tip of the machine tool spindle. During machining, the tilting axis of the tilting milling head 2 intersects with at least one axial first motion plane A1, and the tip of the tilting milling head 2 coincides with the intersection point. When the tip of the tilting milling head coincides with the intersection point, the first motion plane A1 supports the tip, preventing the tip from forming a cantilever structure relative to the first motion plane A1. This reduces the impact of cutting force on the displacement of the tip relative to the tilting axis, thereby ensuring the stability of the tip's accuracy during machining.

[0205] Example 7

[0206] The difference between this embodiment and embodiment 5 is that the workpiece spindle 10 is used instead of the turntable, as shown in Figure 24.

[0207] Preferably, the machine tool is a turning-milling composite machine tool, which includes a workpiece spindle 10. The workpiece spindle 10 can fix the workpiece, and during the machining process, the envelope of the part of the workpiece to be machined is within the motion space.

[0208] Example 8

[0209] The difference between this embodiment and embodiment 2 is that the workpiece spindle 10 is used instead of the turntable.

[0210] Preferably, the machine tool is a turning-milling composite machine tool, which includes a workpiece spindle 10. The workpiece spindle 10 can fix the workpiece, and during the machining process, the envelope of the part of the workpiece to be machined is within the motion space.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A machine tool with an internal constraint structure, comprising: The machine tool spindle is characterized by further comprising: XY coordinate plane, YZ coordinate plane and ZX coordinate plane; The XY coordinate plane is a plane perpendicular to the Z-axis direction; The YZ coordinate plane is a plane perpendicular to the X-axis direction; The ZX coordinate plane is a plane perpendicular to the Y-axis direction; At least two guide rails are provided in the X-axis, Y-axis and Z-axis directions, and at least one pair of guide rails that are not in the same coordinate plane exist in the same direction. Each pair of X-guides that are not in the same coordinate plane contains two XY coordinate planes and two ZX coordinate planes, which form an X-direction partition space. The union of the X-direction partition spaces forms an X-direction inner constraint space. Each pair of Y-guides that are not in the same coordinate plane contains two XY coordinate planes and two YZ coordinate planes, which form a Y-direction partition space. The union of the Y-direction partition spaces forms the Y-direction inner constraint space. Each pair of Z-guides that are not in the same coordinate plane contains two ZX coordinate planes and two YZ coordinate planes, which form a Z-direction partition space. The union of the Z-direction partition spaces forms a Z-direction inner constraint space. The region in which at least two of the X-direction inward constraint space, Y-direction inward constraint space, and Z-direction inward constraint space overlap is the motion space, which is the motion area of ​​the tool tip of the machine tool spindle during the machining process.

2. The machine tool with an internal constraint structure according to claim 1, characterized in that, The motion space is the overlapping region of the X-direction inward constraint space, the Y-direction inward constraint space, and the Z-direction inward constraint space.

3. The machine tool with an internal constraint structure according to claim 1, characterized in that, A first motion plane is formed between a pair of guide rails on the same axis but not in the same coordinate plane. During the machining process, the tool tip of the machine tool spindle can coincide with the first motion plane on at least one axis.

4. The machine tool with an internal constraint structure according to claim 1, characterized in that, At least three guide rails are provided in at least one of the X-axis, Y-axis and Z-axis directions.

5. A machine tool with an internal constraint structure according to claim 4, characterized in that, A prism-shaped space formed by using the guide rails as edges along the direction of at least three guide rails is used as the guide rail constraint space. The guide rail constraint space replaces the inner constraint space in the corresponding axis to form the motion space.

6. A machine tool with an internal constraint structure according to claim 1, characterized in that, It also includes an angle head, where a first motion plane is formed between two guide rails on the same axis but not in the same coordinate plane. During the processing, the swing axis of the angle head intersects with at least one of the first motion planes on the same axis, and the tip of the angle head coincides with the intersection point.

7. A machine tool with an internal constraint structure according to claim 6, characterized in that, The angle head is a single pendulum angle head. During the processing, the swing axis of the angle head is located in the first motion plane in at least one axial direction.

8. A machine tool with an internal constraint structure according to claim 6, characterized in that, The angle head is a double-swing angle head. During the processing, the swing axis of the angle head is located in the first motion plane in at least one axial direction.

9. A machine tool with an internal constraint structure according to claim 6, characterized in that, The angle head is a non-orthogonal angle head, and the tip of the non-orthogonal angle head is located on the swing axis of the non-orthogonal angle head.

10. A machine tool with an internal constraint structure according to claim 9, characterized in that, There is an angle between the mounting surface of the angle head and the XY coordinate plane.

11. A machine tool with an internal constraint structure according to claim 1, characterized in that, It also includes a turntable, which can fix the workpiece, and during the processing, the rotation center of the workpiece is located within the motion space.

12. A machine tool with an internal constraint structure according to claim 11, characterized in that, The turntable is a dual-axis turntable, which can fix the workpiece. During the processing, the envelope of the part of the workpiece to be processed is within the motion space.

13. A machine tool with an internal constraint structure according to claim 1, characterized in that, The machine tool is a milling and turning machine tool, which includes a workpiece spindle. The workpiece spindle can fix the workpiece. During the machining process, the envelope of the part of the workpiece to be machined is within the motion space.

14. A machine tool with an internal constraint structure according to claim 1, characterized in that, The machine tool is a milling machine, which includes a rotary table and a tilting milling head. The rotary table can fix the workpiece. During the machining process, the tip of the tilting milling head is within the envelope of the part of the workpiece to be machined and is located within the motion space.

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