CN217572119U - Orthogonal pendulum head type five-axis machine tool - Google Patents

Abstract

The utility model relates to a machine tooling field provides an orthogonal pendulum head type five-axis machine tool. The orthogonal swing head type five-axis machine tool comprises a rack, a first guide rail and a second guide rail, wherein the first guide rail extends along the length direction of the rack, and a workbench is arranged on the first guide rail; the bracket is arranged on the rack and arranged along the width direction of the rack, a second guide rail is arranged on the bracket and extends along the width direction of the bracket, and a support is arranged on the second guide rail; a third guide rail is arranged on the support, the third guide rail extends along the height direction of the support, and a tool apron is arranged on the third guide rail; and the tool changing device is arranged on one side of the rack so as to finish the replacement of the tool bit on the tool setting seat. The orthogonal pendulum head type five-axis machine tool can realize negative angle machining of a workpiece, and meanwhile, the occupied space of a guide rail can be reduced.

Description

Orthogonal pendulum head type five-axis machine tool

Technical Field

The utility model relates to a machine tooling field provides an orthogonal pendulum head type five-axis machine tool.

Background

At present, a single-pendulum-head five-axis linkage machine tool mostly adopts a non-orthogonal structural form, large negative angle machining cannot be carried out on a workpiece, and the clamping times of the workpiece need to be increased. Meanwhile, most of head-swinging five-axis machine tools are provided with a tool magazine scheme for automatic tool changing, but most of the tool magazines adopt a horizontal tool magazine form for tool changing, so that the tool magazine occupies a large space. In the structural arrangement form of the cross beam guide rail and the machine head guide rail, most of the swing head type five-axis machine tools are still in the conventional guide rail parallel arrangement form, and the force transmission path is long and the structure is heavy. Moreover, the tool changing is mostly carried out in the form of adding a sliding table mechanical arm to a horizontal tool magazine in the related technology, the tool magazine scheme occupies a large space, the sliding table movement can occupy a part of time during tool changing, and the automatic tool changing duration is prolonged.

SUMMERY OF THE UTILITY MODEL

The present invention aims to solve at least one of the technical problems existing in the related art. Therefore, the utility model provides an orthogonal pendulum head type five-axis machine tool can realize the negative angle processing to the work piece, can also reduce the occupation of land space of guide rail simultaneously.

The embodiment of the utility model provides an orthogonal pendulum head type five-axis machine tool, include:

the device comprises a rack, a first guide rail and a second guide rail, wherein the first guide rail extends along the length direction of the rack, and a workbench is arranged on the first guide rail;

the bracket is arranged on the rack and arranged along the width direction of the rack, a second guide rail is arranged on the bracket, the second guide rail extends along the width direction of the bracket, and a support is arranged on the second guide rail; a third guide rail is arranged on the support, the third guide rail extends along the height direction of the support, and a cutter holder is arranged on the third guide rail;

and the tool changing device is arranged on one side of the rack so as to finish the replacement of the tool bit on the tool apron.

According to the utility model provides an orthogonal pendulum head type five-axis machine tool through set up first guide rail in the frame and set up the workstation on first guide rail, can hold the position of work piece in order to adjust the work piece on the workstation. The support is arranged on the second guide rail, so that the support can move along the second guide rail; through set up the third guide rail that extends along its direction of height on the support to set up the blade holder on the third guide rail, can make the blade holder move along the third guide rail. And then can realize the negative angle processing to the work piece through the cooperation of above-mentioned setting mode, can also reduce the occupation of land space of guide rail simultaneously. By arranging the tool changing device, the occupied area of the horizontal tool magazine can be reduced, and the occupied space of the orthogonal pendulum head type five-axis machine tool is further reduced.

According to the utility model discloses an embodiment, the blade holder includes:

the tool apron comprises a tool apron body, wherein a mounting hole is formed in the tool apron body;

the first stator is fixedly arranged in the mounting hole;

a first rotor rotatably installed inside the first stator;

the main shaft is fixedly connected with the first rotor, and a tool bit is installed on the main shaft.

According to the utility model discloses an embodiment, first rotor with the through wires hole has been seted up on the main shaft, wear to be equipped with in the through wires hole the cable of main shaft.

According to the utility model discloses an embodiment, the outside of main shaft is provided with the protection casing, and/or install first detection piece on the first rotor, and/or the blade holder body with be provided with first band-type brake between the first rotor.

According to the utility model discloses an embodiment, the workstation includes:

a base;

the second stator is fixedly arranged on the base;

a second rotor rotatably installed inside the second stator;

and the workbench body is fixedly connected with the second rotor.

According to the utility model discloses an embodiment still includes the second band-type brake, the second band-type brake install in the base just is suitable for the cohesion or unclamps the workstation body.

According to the utility model discloses an embodiment still includes the second and detects the piece, install in the base just is suitable for the detection the turned angle of workstation body.

According to the utility model discloses an embodiment, tool changing device includes:

a base;

the tool comprises a vertical tool magazine body, wherein a plurality of tool bits are arranged in the vertical tool magazine body, and a tool position is arranged on the vertical tool magazine body;

and the driving mechanism is arranged on the vertical tool magazine body and is suitable for pushing out or taking back the tool bit from the tool waiting position.

According to the utility model discloses an embodiment still includes the manipulator, the manipulator install in one side of vertical tool magazine body and with the blade holder of treating the position of a knife and lathe corresponds, the manipulator be suitable for with actuating mechanism cooperation with by treat that the position of a knife takes out or send back the tool bit.

According to the utility model discloses an embodiment, the manipulator includes:

the supporting frame is arranged on the base;

the manipulator body is rotatably arranged on the support frame, two cutter receiving grooves are formed in the manipulator body, and the opening directions of the two cutter receiving grooves are opposite.

The embodiment of the utility model provides an in above-mentioned one or more technical scheme, one of following technological effect has at least:

according to the utility model provides an orthogonal pendulum head type five-axis machine tool through set up first guide rail in the frame and set up the workstation on first guide rail, can hold the position of work piece in order to adjust the work piece on the workstation. The support is arranged on the second guide rail, so that the support can move along the second guide rail; the third guide rail extending in the height direction of the support is arranged on the support, and the tool apron is arranged on the third guide rail, so that the tool apron can move along the third guide rail. And then can realize the negative angle processing to the work piece through the cooperation of above-mentioned setting mode, can also reduce the occupation of land space of guide rail simultaneously. By arranging the tool changing device, the occupied area of the horizontal tool magazine can be reduced, and the occupied space of the orthogonal pendulum head type five-axis machine tool is further reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the related art, the drawings required to be used in the description of the embodiments or the related art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an orthogonal pendulum head type five-axis machine tool provided by an embodiment of the present invention;

fig. 2 is a schematic plan view of a spindle and a tool apron body provided in an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of a tool holder provided by an embodiment of the present invention;

fig. 4 is a schematic cross-sectional view of a workbench according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a vertical tool magazine according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a tool bit and a workpiece according to an embodiment of the present invention.

Reference numerals:

100. a frame; 102. a first guide rail; 104. a support; 106. a second guide rail; 108. a support; 110. a third guide rail; 112. a tool apron body; 114. a first stator; 116. a first rotor; 118. a main shaft; 120. threading holes; 122. a cable; 124. a protective cover; 125. a first detecting member; 126. a base; 127. a first band-type brake; 128. a second stator; 130. a second rotor; 132. a table body; 134. a second band-type brake; 136. a second detecting member; 138. a base; 140. a vertical tool magazine body; 142. waiting for a cutter position; 144. a drive mechanism; 146. A support frame; 148. a manipulator body; 150. a drive member; 152. a column; 154. a bearing; 156. and (5) a workpiece.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1 to 6, an embodiment of the present invention provides an orthogonal pendulum head type five-axis machine tool, including a frame 100, a support 104, and the tool changer described above; the machine frame 100 is provided with a first guide rail 102, the first guide rail 102 extends along the length direction of the machine frame 100, and the first guide rail 102 is provided with a workbench; the bracket 104 is mounted on the rack 100 and arranged along the width direction of the rack 100, a second guide rail 106 is arranged on the bracket 104, the second guide rail 106 extends along the width direction of the bracket 104, and a support 108 is arranged on the second guide rail 106; a third guide rail 110 is arranged on the support 108, the third guide rail 110 extends along the height direction of the support 108, and a tool apron is arranged on the third guide rail 110; the tool changer is disposed at one side of the machine frame 100 to complete the replacement of the tool bit on the tool holder.

According to the embodiment of the utility model provides an orthogonal pendulum head type five-axis machine tool, through set up first guide rail 102 and set up the workstation on first guide rail 102 in frame 100, can hold the position of work piece 156 in order to adjust work piece 156 on the workstation. By providing the frame 100 with the bracket 104 extending in the width direction thereof and providing the bracket 104 with the second rail 106 extending in the width direction thereof, the mount 108 is provided to the second rail 106 so that the mount 108 can move along the second rail 106; by providing the third guide rail 110 extending in the height direction of the carriage 108 and providing the tool post on the third guide rail 110, the tool post can be moved along the third guide rail 110. Furthermore, the negative angle processing of the workpiece 156 can be realized through the matching of the arrangement modes, and meanwhile, the occupied space of the guide rail can be reduced. Through the arrangement of the tool changing device, the occupied area of the horizontal tool magazine can be reduced, and the occupied space of the orthogonal head swinging type five-axis machine tool is further reduced.

With continued reference to fig. 1 to 6, the rack 100 is used to mount a first rail 102, the first rail 102 is disposed to extend along a length direction of the rack 100, and the length direction of the rack 100 mentioned herein refers to the length direction as shown in fig. 1. Slidably attached to the first rail 102 is a table that can be used to hold a workpiece 156 to be machined. In order to increase the stability with respect to the table guidance, two first guide rails 102 may be provided, which are parallel to each other. In order to drive the worktable, a driving member 150 may be provided on the frame 100, and the driving member 150 may be connected to the worktable through a screw. With this arrangement, when the driving member 150 is operated, the table can be driven by the lead screw to move along the longitudinal direction of the first guide rail 102.

In an embodiment of the present invention, the worktable includes a base 126, a second stator 128, a second rotor 130, and a worktable body 132; wherein, the second stator 128 is fixedly mounted to the base 126; the second rotor 130 is rotatably installed inside the second stator 128; the table body 132 is fixedly coupled to the second rotor 130.

Referring to fig. 1, the base 126 is slidably mounted on the first guide rail 102, an opening for mounting the second stator 128 is formed on the base 126, and the second stator 128 is fixedly mounted in the opening and fixedly connected with an inner wall of the opening. A second rotor 130 is rotatably mounted inside the second stator 128, that is, the second rotor 130 is rotatable with respect to the second stator 128. The worktable body 132 is fixedly installed on the second rotor 130, that is, the worktable body 132 can rotate relative to the base 126 under the driving of the second rotor 130. By such an arrangement, the rotation angle of the workpiece 156 can be adjusted, and further, the workpiece 156 can be machined from different angles of the workpiece 156. In order to achieve effective support and rotational guidance of the second rotor 130, a bearing 154 is also provided between the second rotor 130 and the base 126.

According to an embodiment of the present invention, a second band-type brake 134 is further included, and the second band-type brake 134 is installed on the base 126 and is suitable for tightly holding or loosening the workbench body 132.

Referring to fig. 4, the second band-type brake 134 is disposed on the base 126, so that the rotation angle of the workbench body can be fixed. That is, when the second rotor 130 rotates, the second band-type brake 134 releases the workbench body, and at this time, the second rotor 130 can flexibly rotate to adjust the rotation angle of the workbench. When facing the work condition that the cutting output is great, second band-type brake 134 can hold the workstation body tightly so that the turned angle locking of workstation body.

According to an embodiment of the present invention, the detecting device further comprises a second detecting member 136 installed on the base 126 and adapted to detect the rotation angle of the worktable body 132.

Referring to fig. 4, in order to more precisely control the rotation angle of the table body 132, a second detecting member 136 is further mounted on the base 126, and the second detecting member 136 may be a rotational position detecting encoder, an angle sensor, or the like. By providing the second detecting member 136, when the table body 132 rotates, the second detecting member 136 can detect the actual rotation angle of the table body 132, and thus the actual rotation angle of the workpiece 156 can be accurately calculated. Or, a preset angle can be input through the controller, and then the rotation angle of the workbench body 132 can be accurately controlled through the control of the second detection member 136.

The bracket 104 is mounted on the frame 100 and arranged along the width direction of the frame 100 as shown in fig. 1, and a second guide rail 106 is provided on the bracket 104, and the second guide rail 106 extends along the width direction of the bracket 104, that is, the extending direction of the second guide rail 106 is perpendicular to the extending direction of the first guide rail 102. The support 104 may include two uprights 152 disposed on both sides of the frame 100, and a cross beam connected between the two uprights 152, the cross beam being disposed above the first guide rail 102, the second guide rail 106 being disposed along the cross beam, and the mount 108 being disposed on the second guide rail 106, the mount 108 being slidable relative to the second guide rail 106.

In the embodiment of the present invention, the second guiding rail 106 may be provided with two guiding rails to improve the motion stability of the support 108. In order to drive the support 108, a driving member 150 and a lead screw may be disposed on the bracket 104, the driving member 150 is mounted on the bracket 104, and the lead screw is connected to the driving member 150 and the support 108, and when the driving member 150 is actuated, the lead screw can be driven to rotate to drive the support 108 to move along the second guide rail 106.

Referring to fig. 1, the seat 108 may be stepped, so that the floor area of the seat 108 may be reduced, the force transmission path may be short, and the structure may be simple.

The third guide rail 110 is arranged on the support 108 along the height direction of the support, and the tool apron is slidably mounted on the third guide rail 110, it can be understood that the support 108 can move relative to the second guide rail 106 and synchronously move the tool apron relative to the second guide rail 106, and the tool apron can move relative to the third guide rail 110, so that the positions of the tool apron in the horizontal direction and the height direction as shown in fig. 1 can be adjusted, the position of the tool apron relative to the workbench can be adjusted, and the multi-angle processing of the workpiece 156 can be realized.

Referring to fig. 3, according to an embodiment of the present invention, the tool holder includes a tool holder body 112, a first stator 114, a first rotor 116, and a main shaft 118; wherein, the tool apron body 112 is provided with a mounting hole; the first stator 114 is fixedly mounted in the mounting hole; the first rotor 116 is rotatably mounted inside the first stator 114; the main shaft 118 is fixedly connected to the first rotor 116, and a cutter head is mounted on the main shaft 118.

The tool holder body 112 is slidably mounted on the third guide rail 110, a mounting hole for mounting the first stator 114 is formed in the tool holder body 112, and the first stator 114 is fixedly mounted on a hole sidewall of the mounting hole. A first rotor 116 is rotatably mounted inside the first stator 114, and a main shaft 118 is mounted on an inner wall of the first rotor 116, that is, the main shaft 118 is rotatable with respect to the first stator 114 and the holder body 112. The tool bit is mounted on the spindle 118, and by such arrangement, the tool bit can be ensured to rotate, and by adjusting the position of the tool holder and the rotation angle of the tool bit, as described above, negative angle machining of the workpiece 156 can be achieved. To reduce friction between the first rotor 116 and the holder body 112, a bearing 154 is also provided between the first rotor 116 and the holder body 112.

Referring to fig. 3, according to an embodiment of the present invention, a threading hole 120 is formed on the first rotor 116 and the main shaft 118, and a cable 122 for the main shaft 118 is inserted into the threading hole 120.

Through the arrangement, the arrangement mode that the cable 122 rotates along with the main shaft 118 in the related art is improved, repeated bending and twisting of the cable 122 are avoided, and normal use of the cable 122 is ensured.

According to an embodiment of the present invention, a protective cover 124 is disposed on the outer side of the main shaft 118, and/or a second detecting member 125 is mounted on the first rotor 116.

Referring to fig. 3, by providing a shield 124 on the outside of the spindle 118, the spindle 118 can be ensured from contamination by cutting fluid and chips. The shield 124 may be removably coupled to the spindle 118 to facilitate cleaning of the shield 124.

In order to more precisely control the rotation angle of the main shaft 118, a first detecting member 125 is further mounted on the first rotor 116, and the first detecting member 125 may be a rotational position detecting encoder, an angle sensor, or the like. By providing the first detecting member 125, the first detecting member 125 can detect the actual rotational angle of the spindle 118 when the spindle 118 rotates, and thus the actual rotational angle of the workpiece 156 can be accurately calculated. Alternatively, a preset angle can be input through the controller, and the rotation angle of the main shaft 118 can be precisely controlled through the control of the first detecting element 125.

In the embodiment of the present invention, the tool holder further includes a first band-type brake 127, and the first band-type brake 127 is installed on the tool holder body 112 and adapted to tightly hold or loosen the first rotor 116.

Referring to fig. 3, the first band-type brake 127 is provided on the holder body 112, so that the rotation angle of the spindle 118 can be fixed. That is, when the first rotor 116 rotates, the first band-type brake 127 releases the spindle 118, and at this time, the first rotor 116 can flexibly rotate to adjust the rotation angle of the tool holder. When the rotation angle of the tool apron is adjusted to the proper position, the first band-type brake 127 can tightly hold the spindle 118 so as to lock the rotation angle of the spindle 118.

Referring to fig. 5, in the embodiment of the present invention, the vertical magazine includes a base 138, a vertical magazine body 140, and a driving mechanism 144; wherein, a plurality of tool bits are arranged in the vertical tool magazine body 140, and a tool position 142 is arranged on the vertical tool magazine body 140; the driving mechanism 144 is mounted to the vertical magazine body 140 and is adapted to push out or retrieve a tool bit from the waiting position 142.

According to the tool changer, the vertical tool magazine body 140 is arranged, and the tool bit in the vertical tool magazine body 140 is pushed out or taken back through the driving mechanism 144, so that the occupied area of the tool changer can be reduced, and the tool changing efficiency is improved. When the tool changing device is applied to the orthogonal head-swinging type five-axis machine tool, the overall occupied space of the orthogonal head-swinging type five-axis machine tool can be reduced, and the use requirement of the orthogonal head-swinging type five-axis machine tool on tool bits is met.

Referring to fig. 5, a base 138 is disposed at one side of the rack 100, a vertical tool magazine body 140 is mounted on the base 138, a tool waiting position 142 is opened at one side of the vertical tool magazine body 140 facing the rack 100, and a driving mechanism 144 is disposed in the vertical tool magazine body 140, and the driving mechanism 144 can push out or withdraw a tool bit in the vertical tool magazine body 140 through the tool waiting position 142. That is, when the tool bit in the vertical tool magazine body 140 moves to the position corresponding to the tool waiting position 142, the driving mechanism 144 may push the tool bit out to the tool waiting position 142, and after the tool bit on the rack 100 is used, the manipulator rotates to exchange the used tool bit and the tool bit to be replaced, and at this time, the driving mechanism 144 may take back the used tool bit through the tool waiting position 142. When the driving mechanism 144 pushes out or withdraws the tool bit, the driving mechanism 144 is reset, and the tool bit in the vertical tool magazine body 140 can be switched normally.

According to the utility model discloses an embodiment still includes the manipulator, and the manipulator is installed in one side of vertical tool magazine body 140 and corresponds with the blade holder of waiting position 142 and the five-axis machine tool of quadrature pendulum head type, and the manipulator is suitable for with actuating mechanism 144 cooperation in order to be taken out or send back the tool bit by waiting position 142. It should be noted that the tool rest of the orthogonal pendulum type five-axis machine tool mentioned here refers to a tool changing position on the spindle 118.

Referring to fig. 5, the manipulator is installed at one side of the vertical tool magazine body 140 and is arranged between the tool position 142 to be used and the tool apron, the orthogonal head-swinging five-axis machine tool reads a program in advance, a next tool bit to be used in the vertical tool magazine body 140 moves to a position corresponding to the tool position 142 to be used and is pushed out by the driving mechanism 144, and after the main shaft 118 is machined, the next tool bit to be used in the tool position 142 is directly replaced, so that the replacement efficiency of the tool bit can be improved. The used tool bit exchanged to the position of the waiting position 142 can be stored in the vertical magazine body 140 by being driven by the driving mechanism 144.

According to an embodiment of the present invention, the manipulator comprises a support frame 146 and a manipulator body 148; the supporting frame 146 is mounted on the base 138, the manipulator body 148 is rotatably mounted on the supporting frame 146, and two tool receiving slots are formed in the manipulator body 148, and the opening directions of the two tool receiving slots are opposite.

Referring to fig. 5, a supporting frame 146 is installed at one side of the rack 100 and is located on the base 138, a robot body 148 is rotatably installed on the supporting frame 146, two knife receiving slots are respectively arranged at two opposite ends of the robot body 148, and the two knife receiving slots have opposite opening directions. For example, as shown in fig. 5, the opening of the pocket on the left side faces downward, and the opening of the pocket on the right side faces upward.

The tool changer is provided on one side of the machine frame 100, and the tool magazine is provided in a vertical type, so that the floor space of the tool magazine can be reduced.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. An orthogonal yaw-type five-axis machine tool, comprising:

the device comprises a rack (100) and a first guide rail (102), wherein the first guide rail (102) extends along the length direction of the rack (100), and a workbench is arranged on the first guide rail (102);

the support (104) is mounted on the rack (100) and arranged along the width direction of the rack (100), a second guide rail (106) is arranged on the support (104), the second guide rail (106) extends along the width direction of the support (104), and a support (108) is arranged on the second guide rail (106); a third guide rail (110) is arranged on the support (108), the third guide rail (110) extends along the height direction of the support (108), and a tool apron is arranged on the third guide rail (110);

the tool changing device is arranged on one side of the rack (100) to complete the replacement of the tool bit on the tool apron.

2. The orthogonal pendulum-type five-axis machine tool of claim 1, wherein the tool holder comprises:

the tool apron comprises a tool apron body (112), wherein the tool apron body (112) is provided with a mounting hole;

a first stator (114) fixedly mounted to the mounting hole;

a first rotor (116) rotatably mounted inside the first stator (114);

the main shaft (118) is fixedly connected to the first rotor (116), and a tool bit is mounted on the main shaft (118).

3. The orthogonal pendulum head type five-axis machine tool according to claim 2, wherein the first rotor (116) and the main shaft (118) are provided with threading holes (120), and a cable (122) of the main shaft (118) is threaded in the threading holes (120).

4. An orthogonal pendulum head type five-axis machine tool according to claim 2, characterized in that a shield (124) is provided on the outside of the spindle (118), and/or a first detecting member (125) is mounted on the first rotor (116), and/or a first band brake (127) is provided between the tool holder body (112) and the first rotor (116).

5. The orthogonal pendulum head type five-axis machine tool as set forth in claim 3, wherein the table comprises:

a base (126);

a second stator (128) fixedly mounted to the base (126);

a second rotor (130) rotatably mounted inside the second stator (128);

a table body (132) fixedly connected to the second rotor (130).

6. The orthogonal pendulum head type five-axis machine tool according to claim 5, further comprising a second band-type brake (134), the second band-type brake (134) being mounted to the base (126) and adapted to tighten or loosen the table body (132).

7. The orthogonal pendulum head type five-axis machine tool according to claim 5, further comprising a second detection member (136) mounted to the base (126) and adapted to detect a rotation angle of the table body (132).

8. The orthogonal yaw-type five-axis machine tool according to any one of claims 1 to 7, wherein the tool changer comprises:

a base (138);

the vertical tool magazine comprises a vertical tool magazine body (140), wherein a plurality of tool bits are arranged in the vertical tool magazine body (140), and a tool position (142) to be cut is formed in the vertical tool magazine body (140);

the driving mechanism (144) is installed on the vertical tool magazine body (140) and is suitable for pushing out or retrieving the tool bit from the tool waiting position (142).

9. The orthogonal pendulum head type five-axis machine tool according to claim 8, further comprising a manipulator mounted to one side of the vertical magazine body (140) and corresponding to the to-be-cut location (142) and a tool seat of the machine tool, the manipulator being adapted to cooperate with the drive mechanism (144) to take out or return the tool bit from the to-be-cut location (142).

10. The orthogonal pendulum type five-axis machine tool of claim 9, wherein the manipulator comprises:

a support bracket (146) mounted to the base (138);

the manipulator body (148) is rotatably arranged on the support frame (146), two tool receiving grooves are formed in the manipulator body (148), and the opening directions of the two tool receiving grooves are opposite.

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