The column moving CNC three-coordinate machining module can realize the peripheral milling process by the linkage of the X-axis and the Y-axis, especially when milling a workpiece with a low rigidity such as a gearbox body, a smaller diameter milling cutter can be used. High-speed (cutting speed up to 2500m/min) peripheral milling, thereby reducing the cutting force and deformation of the workpiece during machining. This is much better than milling with a large diameter milling cutter using a two-coordinate milling module. The multi-axis machining module is another important module, which is mainly used for flexible combination machine tools and flexible automatic lines for machining boxes and discs. This type of module has many different structural forms, but can basically be divided into automatic box-type multi-axis machining module (Fig. 7), turret multi-axis machining module (Fig. 8) and rotary workbench multi-axis machining module ( Figure 9). The automatic change-box module can be used to process many different types of workpieces because it can store more multi-axle boxes in a specially arranged multi-axis box library. The turret and rotary worktable multi-axis machining modules can only achieve a limited variety due to the limited number of multi-axle boxes that can be installed on the turret head and the rotary table (generally 4 to 6). Processing. The CNC three-coordinate machining module and the turret multi-axis machining module are used on the automatic line to not only realize the processing of different kinds of workpieces, but also in the automatic line tact time (if the tact time is allowed), the processing modules can also be in the same Through the automatic tool change or change of the box at the processing station, multiple processing steps (rough, semi-finished and fine-tuned; drilling, reaming and tapping) are successively realized, thereby reducing the number of processing lines of the automatic line and shortening The length of the automatic line. The single-axis and multi-axis composite machining module is a three-axis CNC machining module that can realize single-axis machining or multi-axis machining by automatic tool change or automatic replacement of multi-axle boxes. It is worth mentioning that in the mid-1980s, the CNCMACH modular system (Fig. 10) introduced by Germany's Honsberg was a unique modular system that fully applied the modular structure principle in the CNC as the system's basic module. On the three-coordinate module, by adding or subtracting various functional modules, assembling into various processing modules with different coordinates or without using the technology. Specifically, from the coordinates, in addition to the three coordinates, it can also form a two-coordinate and single-coordinate machining module; from the tool magazine, the tool library and the multi-axis box library can be installed, and the tool or multi-axis box can be automatically realized. Replacement, or replacement of the tool and multi-axle box in turn. The CNC MACH system is modular not only in terms of mechanical structure but also in terms of control and software. Therefore, the system module can be easily assembled into a flexible automatic line (FTL), a flexible processing unit (FMC) or a flexible manufacturing system (FMS). In addition to the various CNC machining modules described above, robotic and servo-driven fixtures are also important components of flexible combination machines and flexible automatic lines. Especially on flexible automatic lines, gantry-type empty-frame robots have been widely used for automatic loading and unloading of workpieces for indexing or turning of workpieces. In order to carry different workpieces, a claw library can be set beside the automatic line to realize automatic replacement of the claws. The fixture is equipped with a servo drive to accommodate automatic clamping of different workpieces within the workpiece family. Figure 11 shows a flexible automatic line for processing eight gearboxes of a truck. The CNC machining module used in this line has four double-coordinate CNC milling modules, six CNC turret multi-axis machining modules and six CNC three-axis machining modules. The auxiliary station has a cleaning station and a clamping station that operates with a robot. Since the machining modules that make up the automatic line are all CNC, when changing from one workpiece to another, it is only necessary to change the NC program without the need for mechanical adjustments and modifications. Figure 12 shows a flexible automatic line for machining bearing caps. The number of workpieces processed is up to 43 and the tact time is only 6 seconds. In order to meet the processing of this variety, 9 CNC three-coordinate machining modules (two of which have a tool magazine capacity of 80 knives) and 7 CNC single-coordinate machining modules are used on the automatic line. The rapid development of automatic line flexibility of combined machine tools and the shortening of the tact time have fully demonstrated the tremendous technological advances brought by CNC technology and tool technology to the automatic line of combined machine tools, making flexible automatic lines an important technical equipment in multi-variety and mass production. . However, it must be pointed out here that while the combined machine tools and automatic lines are becoming flexible, the high-speed development of machining centers is extremely rapid. In the early 1990s, a flexible production line consisting of such high-speed machining centers entered the field of mass production, and there was a situation in which the machining center competed with the automatic line. 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