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附录：外文资料与中文翻译外文资料：The Development Of Machine Tool Technologyand automatic line Machine Tool and Machine Tool Automatic Line is a dedicated and efficient automation technology and equipment, at present, it is still a high-volume machinery to achieve efficient, high quality and economical production of key equipment, which is widely used in automobiles, tractors, diesel and compressed machines and many other industrial production. In particular, the automotive industry, is a combination of machine tools and automatic lines largest user. Such as the German Volkswagen plant in Salzgitter engine plant, used in the early 90s metal-cutting machine tool is automatic line (60%), machines (20%) and processing center (20%). Clearly, the mass production of the machinery industry, a lot of used equipment is a combination of machine and automatic line. Therefore, combination machine tool and its automatic line level of technical performance and integrated automation, the large extent determines these industries, a product of the production efficiency, product quality and business organization of production Jiegou, Yezai determine a companys products competitiveness. 现代组合机床和自动线作为机电一体化产品，它是控制、驱动、测量、监控、刀具和机械组件等技术的综合反映。 Combination of machine tools and automatic lines of modern mechatronic product as it is to control, drive, measure, monitor, tool and machinery components such as a comprehensive reflection of technology. 近20年来，这些技术有长足进步，同时作为组合机床主要用户的汽车和内燃机等行业也有很大的变化，其产品市场寿命不断缩短，品种日益增多且质量不断提高。 The past 20 years, these technologies have made considerable progress, as well as a combination of machine tool user industries such as automobile and internal combustion engines, there are big changes in the market life of their products continue to shorten, increasing variety and quality improved. 这些因素有力地推动和激励了组合机床和自动线技术的不断发展。 These factors effectively promote and encourage the combination of machine and automatic line technology continues to evolve. 1 A combination of varieties of key development tools 在组合机床这类专用机床中，回转式多工位组合机床(图2)和自动线占有很重要的地位。 In the combination of these special purpose machine tools, the rotary multi-station machines (Figure 2) and automatic line plays an important role. 因为这两类机床可以把工件的许多加工工序分配到多个加工工位上，并同时能从多个方向对工件的几个面进行加工，此外，还可以通过转位夹具(在回转工作台机床上)或通过转位、翻转装置(在自动线上)实现工件的五面加工或全部加工，因而具有很高的自动化程度和生产效率，被汽车、摩托车和压缩机等工业部门所采用。 Because these two types of machine parts can be assigned to many manufacturing processes on multiple processing station, and also from several different directions on the workpiece surface processing, In addition, you can also switch to digital clamp (work in rotation machine tool) or by translocation, flip device (in the automatic line) to achieve a five-face machining parts or all of processing, so they have a high degree of automation and production efficiency, a car, motorcycle and compressors and other industrial sectors used. 根据有关统计资料，德国在19901992年期间，回转式多工位组合机床和自动线的产量约各占组合机床总数的50%左右。According to statistics, Germany in 1990 and 1992, combined multistation rotary machine and automatic production lines around each combination of machine tool about 50% of the total. 应指出，回转式多工位组合机床实际上是一种特殊型式的小型自动线，适合于加工轮廓尺寸250mm的中小件。 Be noted that multi-station rotary machine is actually a combination of special types of small automatic lines for processing outline size of 250mm of small pieces. Compared with the automatic line, in the processing of the same parts of the case, the combination of multi-station rotary machine tool operations share is about a small area than the automated line 2 / 3.2、 beat time to further reduce the automatic line 目前，以大批量生产为特征的轿车和轻型载货车，其发动机的年产量通常为60万台左右，实现这样大的批量生产，回转式多工位组合机床和自动线在三班运行的情况下，其节拍时间一般为2030秒，当零件生产批量更大时，机床的节拍时间还要更短些(表1)。 At present, characterized by mass production of cars and light trucks, the engines output is usually around 60 million units, to achieve such a large volume production, multi-position rotary combination of machine tools and automatic lines in the case of three-shift operation , the tact time is generally 20 to 30 seconds, when the greater part of production volume, the machine cycle times should be shorter (Table 1). In the 70s, automatic line to achieve such a short beat, often used side by side duplex or set the two-lane approach, that is, determining the automatic line of the beat, the longest processing operation processes through the same process in parallel two station, if more restrictive process, then the same through the use of two automatic lines to balance the automatic line system processing rhythm. 显然，这样就要增加设备投资和作业面积。 Apparently, this would increase the investment in equipment and operating area. 缩短基本时间的主要途径是采用新的刀具材料和新颖刀具，以通过提高切削速度和进给速度来缩短基本时间。 The main way to shorten the basic time is the introduction of new materials and novel tool tool to enhance the cutting speed and feed through to shorten the basic time rate. 例如，德国大众汽车厂在加工铝合金缸盖燃烧室侧面时，采用PCD铣刀，铣削速度高达3075m/min，进给速度达3600mm/min；又如，在镗削灰铸铁缸体的缸孔时，采用装有三个可转位CBN刀片的新颖镗刀头，切削速度达800m/min，进给速度为1500mm/min，加工深度为146mm的缸孔，其实际加工时间仅为5.8s，比传统加工工艺可缩短2/3的加工时间。 For example, the German Volkswagen plant in the processing of aluminum alloy cylinder head combustion chamber side, the use of PCD milling cutters, milling speeds of up to 3075m/min, feed speed 3600mm/min; another example, in boring gray cast iron cylinder block of the cylinder bore When used with three indexable boring head new CBN inserts, cutting speed up to 800m/min, feed rate 1500mm/min, processing depth of 146mm the cylinder bore, the actual processing time of only 5.8s, compared traditional processing process can be shortened 2 / 3 of the processing time. 缩短辅助时间主要是缩短包括工件输送、加工模块快速引进以及加工模块由快进转换为工进后至刀具切入工件所花的时间。 Reduce the auxiliary time is shortened, including parts delivery, processing and rapid introduction of the module and processing module is converted to work by the fast-forward to the tool after the cut into the workpiece into the time spent. To shorten this part of the air travel time, generally used to improve workpiece (workpiece direct transmission) or the accompanying fixtures and processing module transmission speed fast speed. 目前，随行夹具的输送速度可达60m/min或更高些，加工模块快速移动速度达40m/min。 At present, the accompanying transmission speeds up to 60m/min fixture or later some, fast-moving speed of processing modules 40m/min. At present, the accompanying high-speed conveyor fixture common control with electro-hydraulic proportional valve or cyclonical driven conveyer. The late 70s, Honsberg body in its processing of automatic transmission line on the use of electro-hydraulic proportional valve controlled delivery device. Movement of the conveyor curves. As the electro-hydraulic proportional valve control system has a good start and braking performance, and the system structure is simple, so far, this conveyor being used by many automated line.3、the rapid progress of flexible combination machine 十多年来，作为组合机床重要用户的汽车工业，为迎合人们个性化需求，汽车变型品种日益增多(图5)，以多品种展开竞争已成为汽车市场竞争的特点之一，这使组合机床制造业面临着变型多品种生产的挑战。 10 years, as the combination of machine tools important to the users automobile industry, to meet the individual needs of people, cars become growing varieties (Figure 5), a multi-species competition has become one of the characteristics of market competition car, making Machine Tool Manufacturing industry faces many varieties of variant production challenges. 为适应多品种生产，传统以加工单一品种的刚性组合机床和自动线必须提高其柔性。 To meet the multi-species production and processing of a single species of conventional machine tools and automatic lines rigid composite to improve its flexibility. In the 70s, numerical control system reliability has been greatly improved, it is to late 70s and early 80s, as Alfing, Hller-Hille and Ex-cell-o and other companies have developed a flexible machining modules, and automatic line ( FTL), from CNC machine tools and flexible combination of automatic line has increased every year. 1988 to 1992, Japan Machine Tool and automatic line (including some other form of special machine tools) production NC rate has reached 32% 39%, output NC rate of 35% to 51%; the German Machine Tool and automatic line production The NC rate of 18% and 62%, 45% of the value NC 66% (Table 2). These figures show that over the past decade, the development of NC machine tool combination is very rapid. Should be noted that since the 90s into the car even more intense market competition, product market and further reduce the life of the new models and shorter development cycle (now usually 35 months), car varieties growing, so automotive industry to flexible automation increasing demand for technical equipment. Such as Toyota Motor Corporation, in the end of this centurys goal is to subordinate the factory the company flexible manufacturing systems coverage reached 100%.很显然，组合机床及其自动线在保持其高生产效率的条件下，进一步提高其柔性就愈来愈具有重要意义。 Obviously, combination machine tool and its production line while maintaining its high productivity conditions, further enhancing its flexibility on the more important. 组合机床的柔性化主要是通过采用数控技术来实现的。Flexible modular machine tool is mainly through the use of numerical control technology to achieve. Development of flexible modular machine tool and an important prerequisite for flexible automatic line is the development of CNC machining module, which has a long history of development of processing technology for the development of CNC machining center modules to provide a mature experience. NC modules formed by the flexible modular machine tool and flexible automatic lines, can be changed through the application and the automatic tool changer CNC program to automatically replace the multi-axle box and change the processing itinerary of the working cycle, cutting parameters and processing location, in order to adapt to change type variety of processing. 柔性组合机床和柔性自动线用的数控加工模块，按其数控坐标(轴)数，主要有单坐标(Z)、双坐标(XZ、YZ、ZU和ZB等)和三坐标(XYZ)加工模块；按其主轴数，有单轴和多轴加工模块，也有单轴和多轴复合加工模块。Single-axis machining module by the NC slide and spindle assembly (or axle box, including for multi-axle box) form. Two-axis machining module by the cross slide and spindle CNC Components, such as two-coordinate CNC milling module. Column moving type CNC coordinate processing module (Figure 6), the tool can be realized in the three coordinate movement, according to workpiece varieties and processing tasks with Tool, tool change and the required mechanical hand tools, high Flexible. This processing module is flexible automatic line processing of multi species one of the most important modules. 立柱移动式CNC三坐标加工模块可利用X轴和Y轴的联动来实现周边铣削工艺，特别是在铣削象变速箱体这类刚性较差的工件时，可采用较小直径的铣刀，实现高速(切削速度达2500m/min)周边铣削，由此减小加工时的切削力和工件的变形。 Mobile column CNC machining module can make use of X coordinate axis and Y axis of the linkage to achieve the peripheral milling process, particularly in the milling body such as the transmission of less rigid workpiece, we can use smaller diameter cutter, high-speed (cutting speed up to 2500m/min) milling around, thus reducing processing time of cutting force and workpiece deformation. This is more than double coordinate milling module for milling cutters with large diameter to be superior. Multi-axis machining module is another important module, mainly for processing box and disc type work flexible combination of machine tools and flexible automatic lines.这类模块有多种不同的结构形式，但基本上可分为自动换箱式多轴加工模块(图7)、转塔式多轴加工模块(图8)和回转工作台式多轴加工模块(图9)。 How such module structure of different forms, but basically can be divided into automatic processing module for box-type multi-axis (Figure 7), turret multi-axis machining module (Figure 8) and multi-axis machining module Rotary Table (Figure 9). As for box-type module automatically be set in a special multi-axle box to store more and more libraries axle box, it can be used to process more parts of different species. 而转塔式和回转工作台式多轴加工模块，由于在转塔头和回转工作台上允许装的多轴箱数量有限(一般为46个)，所以这种加工模块只能实现有限品种的加工。 The turret and multi-axis machining module Rotary Table, due to the turret head and turn the table to allow installation of a limited number of multi-axle box (usually 4 to 6 months), so this processing module can only achieve limited variety of processing. 在自动线上采用CNC三坐标加工模块和转塔式多轴加工模块，不仅可实现不同品种工件的加工，而且在自动线节拍时间内(如果节拍时间允许的话)，这类加工模块还可以在同一个加工工位上通过其自动换刀或换箱，依次实现多道加工工序(粗镗、半精镗和精镗；钻孔、扩孔和攻丝)，从而减少自动线的加工工位数，缩短自动线的长度。 CNC Coordinate with automatic online processing modules and turret multi-axis machining modules, not only enables workpieces of different varieties, but also in the automatic line beat of time (if time permits, then the beat), this type of processing module can also be in the same processing station on the exchange through its automatic tool changing or box, and then click to realize multi-channel processing operation (rough boring, semi-fine boring and precision boring; drilling, reaming and tapping), thereby reducing the processing work automatically line the median, Automatic line to shorten the length. 单轴和多轴复合加工模块是一种三坐标数控加工模块，可通过自动换刀或自动更换多轴箱而实现单轴加工或多轴加工。 Single and multi-axis coordinate complex processing module is a CNC machining modules, can be automatically replaced by ATC, or multi-axle box and the realization of single-axis machining or multi-axis machining.值得提及的是，在80年代中期德国Honsberg公司推出的CNCMACH模块化系统(图10)是很有特色的一种模块化系统，该系统充分应用模块化结构原理，在作为系统基础模块的CNC三坐标模块上，通过增减各种不同的功能模块，拼装成各种不同坐标或不用工艺用途的加工模块。 It is worth mentioning that in the mid 80s the company introduced CNCMACH Germany Honsberg modular system are characteristic of a modular system, modular structure of the full application of the principle as a basic module of the CNC system CMM module, through changes in various functional modules, assembled into a variety of different processes do not use coordinates or processing modules. Specifically, from the coordinates, except coordinate, it can also form two-coordinate and single-axis machining module; view from the Tool can be installed in libraries and multi-axle box tool libraries, can be realized individually or axle box of tools automatic replacement can also be followed to achieve the replacement tool and multi-axle box. CNCMACH系统，不仅在机械结构方面，而且在控制和软件等方面也是模块化的。 CNC MACH system, not only in the mechanical structure, but also in control and software is modular and so on. Therefore, the use of the system modules can be easily assembled into flexible transfer lines (FTL), flexible manufacturing cell (FMC) or flexible manufacturing system (FMS). In addition to the various CNC machining modules, the robot and servo-driven machine tools and jigs is also flexible combination of a key component of flexible automatic lines. Particularly in the flexible nature of automatic online, now more common use of air-frame gantry robot automatic loading and unloading workpieces, for workpiece transfer position or flipped. For the handling of different workpieces can be set in the automatic line next to the gripper base in order to achieve the automatic gripper change. Fixture equipped with servo drives, to adapt to different job families in the automatic clamping work pieces. 该线采用的数控加工模块有四个双坐标数控铣削模块、六个数控转塔式多轴加工模块和六个数控三坐标加工模块。 The line used in CNC machining module has four double-axis NC milling module, six CNC turret CNC multi-axis machining module and six coordinate processing module. Secondary station and the cleaning station operations by the robot workstation installation folder. As the composition of automatic wire processing module is NC, when the transformation process from a workpiece to another workpiece processing, simply by changing the NC program on the line, without the need for machinery, adjustment and modification. 4、 the increasing degree of integrated automation近十年来，为进一步提高工件的加工精度和减少工件在生产过程中的中间储存、搬运以及缩短生产流程时间，将工件加工流程中的一些非切削加工工序(如工序间的清洗、测量、装配和试漏等)集成到自动线或自动线组成的生产系统中(图15)，以实现工件加工、表面处理、测量和装配等工序的综合自动Over the past decade, in order to further improve the machining accuracy of workpiece and the workpiece during the production process to reduce intermediate storage, handling and production processes to shorten the time the workpiece machining process in some non-cutting operations (such as inter-process cleaning, measurement, assembly and leak testing, etc.) integrated into the automated line or automatic line production system consisting of (Figure 15), in order to achieve workpiece machining, surface treatment, measurement and assembly processes of integrated automation. 清洗 Clean：In the automatic line and automatic line consisting of production systems, cleaning equipment, parts of the process is mainly used for cleaning and parts between the final cleaning. 工件的工序间清洗主要是为下一道工序创造必要的工作条件。 Between the cleaning processes the workpiece is mainly for the next process to create the necessary conditions of work. For example, the workpiece blank in the painting before, after processing the workpiece datum, deburring, the measurements carried out before and a variety of cleaning before assembly. 当今，鉴于我们人类赖以生存的环境日益受到工业污染的破坏，环境保护已引起人们的普遍重视。 Today, in view of the survival of our human environment is increasingly damaged by industrial pollution; environmental protection has attracted much attention. 近年来，国内外越来越关注工业清洗对环境的污染。 In recent years, more and more concerned with industrial cleaning at home and abroad on the environment. 这就促使许多工业部门的零件清洗转向应用水剂清洗(采用酸性、中性或碱性清洗液，清洗液中主要含有磷酸盐、活性剂和络合剂等)，这种水剂清洗主要根据工件清洗质量要求而采用喷淋(分散清洗)和浸渍(集中清洗)两种工艺。 This has prompted many industries move on aqueous parts cleaning washing (using acidic, neutral or alkaline cleaning liquid, cleaning liquid containing mainly phosphate, active agents and complexing agents, etc.), primarily on the basis of such aqueous cleaning workpiece quality requirements and use of cleaning spray (distributed cleaning) and immersion (concentrated cleaning) are two processes. 基于环境保护、现场操作工人的保健和清洗工艺的合理化等要求，目前，清洗机已普遍采用封闭式布局，整个清洗过程是自动进行的，设备控制采用可编程控制器，并自动监控所有机械动作和工艺技术参数。 Based on environmental protection, health care workers, field operations and cleaning process of rationalization and other requirements, now, cleaning machine has been widely used closed-end layout, Zheng Ge cleaning process is automatic and programmable controller equipment control, and automatic monitoring of all mechanical action and technical parameters. In such washing machines integrated evaporation, filtration, material recovery and processing devices, as shown in Figure 16 is a German Benz steering shell cleaning process. The washing machine is closed layout, the cleaning process is conducted in a closed system, through a cleaning fluid purification support system to achieve the recycling of cleaning fluid. In this system, as a purification unit is a core component of purification and recycling modules cleaning. The module consists of ultra-fine filters and evaporator joint composition, use of the integrated purification equipment and cleaning fluid produced by distilled water, re-used for parts cleaning and rinsing. 5、Automatic measurement 在自动线上采用自动测量旨在对工件的加工质量进行监控。 Automatic line automatic measurement of the workpiece to the processing quality control. In recent years, due to the increasingly automated line to shorten cycle times, the accuracy of the workpiece and the measurement and also become increasingly demanding production conditions, therefore the automatic measurement system must not only work with high speed and high work precision, and to have strong anti-environmental interference (such as chips, dust, steam coolant, oil, vibration and temperature, etc.) capability or some interference with the measurement system can automatically compensate the amount of performance. 在自动线上，自动测量可分为加工前测量和加工后测量。 The automatic line, automatic measurement can be divided into pre-processing measurement and processed measurements. 加工前测量是在工件加工前通过测量以确定工件的特征，并利用测量结果来调整刀具相对于工件待加工部位的位置，然后进行相应的加工。 Processing before the measurement is in the workpiece before the workpiece by measuring to determine the characteristics and use measurements to adjust the tool position relative to the location of the workpiece to be processed, and then processed accordingly. For example, when the bottom plane of the milling cylinder head, in order to ensure that the depth of the combustion chamber to the bottom plane deviation for the smallest size (which directly affect the engine performance bias), it uses the measurement control milling. Milling before the cylinder head is found in the accompanying fixtures and clamping, and then use various pneumatic measuring head measuring the depth of each chamber, calculated from the average maximum and minimum values, and then use that value by the corresponding control to adjust milling head position relative to the workpiece further milling. 近年来，在自动线上，工件精加工后普遍进行100%的检验测量，为此，在精加工工位后设置测量工位。 In recent years, the automatic line, the workpiece generally 100% after finishing the test measured, therefore, in the finishing station after setting measurement station. Figure 17 shows the cylinder head intake and exhaust valve seat and the catheter hole integrated precision automatic measuring devices. The device uses four pneumatic measuring head at the same time the four seat and catheter measurements. Measurement of the measurement head cone seat with about 50m wide circular slot nozzle, hole in the heart catheter measuring stick with the same measuring nozzle. When the mandrel speed the introduction of catheter holes to seat the centering and aligning cone, it is through the specially designed bearing to achieve, and the conical seat by means of spring to measure the geometric precision of the measurement head to impose certain paste together to make the measurement head against the seat of the cone. When connected to compressed air for measurement, can be discharged through the nozzle from the gas ring to measure the amount of.组合机床未来的发展将更多的采用调速电动机和滚珠丝杠等传动，以简化结构、缩短生产节拍；采用数字控制系统和主轴箱、夹具自动更换系统，以提高工艺可调性；以及纳入柔性制造系统等。 Machine Tool future development will be more so with speed control motor and ball screw drive to simplify the structure, reduce the production cycle; digital control system and the spindle box, the clamp replacement system, to improve the process adjustability; and into the flexible manufacturing systems.阀座锥角误差 组合机床和自动线的技术发展组合机床和组合机床自动线是一种专用高效自动化技术装备，目前，由于它仍是大批量机械产品实现高效、高质量和经济性生产的关键装备，因而被广泛应用于汽车、拖拉机、内燃机和压缩机等许多工业生产领域。其中，特别是汽车工业，是组合机床和自动线最大的用户。如德国大众汽车厂在Salzgitter的发动机工厂，90年代初所采用的金属切削机床主要是自动线(60%)、组合机床(20%)和加工中心(20%)。显然，在大批量生产的机械工业部门，大量采用的设备是组合机床和自动线。因此，组合机床及其自动线的技术性能和综合自动化水平，在很大程度上决定了这些工业部门产品的生产效率、产品质量和企业生产组织的结构，也在很大程度 决定了企业产品的竞争力。 现代组合机床和自动线作为机电一体化产品，它是控制、驱动、测量、监控、刀具和机械组件等技术的综合反映。近20年来，这些技术有长足进步，同时作为组合机床主要用户的汽车和内燃机等行业也有很大的变化，其产品市场寿命不断缩短，品种日益增多且质量不断提高。这些因素有力地推动和激励了组合机床和自动线技术的不断发展。 1、组合机床品种的发展重点 在组合机床这类专用机床中，回转式多工位组合机床(图2)和自动线占有很重要的地位。因为这两类机床可以把工件的许多加工工序分配到多个加工工位上，并同时能从多个方向对工件的几个面进行加工，此外，还可以通过转位夹具(在回转工作台机床上)或通过转位、翻转装置(在自动线上)实现工件的五面加工或全部加工，因而具有很高的自动化程度和生产效率，被汽车、摩托车和压缩机等工业部门所采用。 根据有关统计资料，德国在19901992年期间，回转式多工位组合机床和自动线的产量约各占组合机床总数的50%左右。应指出，回转式多工位组合机床实际上是一种特殊型式的小型自动线，适合于加工轮廓尺寸250mm的中小件。与自动线相比，在加工同一种工件的情况下，回转式多工位组合机床所占作业面积要比自动线约小2/3。2、自动线节拍时间进一步缩短 目前，以大批量生产为特征的轿车和轻型载货车，其发动机的年产量通常为60万台左右，实现这样大的批量生产，回转式多工位组合机床和自动线在三班运行的情况下，其节拍时间一般为2030秒，当零件生产批量更大时，机床的节拍时间还要更短些(表1)。在70年代，自动线要实现这样短的节拍，往往要采用并列的双工位或设置双线的办法，即对决定自动线节拍的、工序时间最长的加工工序要通过并联两个相同的加工工位，如果限制性工序较多时，则通过采用两条相同的自动线来平衡自动线系统的加工节拍。显然，这样就要增加设备投资和作业面积。缩短基本时间的主要途径是采用新的刀具材料和新颖刀具，以通过提高切削速度和进给速度来缩短基本时间。例如，德国大众汽车厂在加工铝合金缸盖燃烧室侧面时，采用PCD铣刀，铣削速度高达3075m/min，进给速度达3600mm/min；又如，在镗削灰铸铁缸体的缸孔时，采用装有三个可转位CBN刀片的新颖镗刀头，切削速度达800m/min，进给速度为1500mm/min，加工深度为146mm的缸孔，其实际加工时间仅为5.8s，比传统加工工艺可缩短2/3的加工时间。 缩短辅助时间主要是缩短包括工件输送、加工模块快速引进以及加工模块由快进转换为工进后至刀具切入工件所花的时间。为缩短这部分空行程时间，普遍采用提高工件(工件直接输送)或随行夹具的输送速度和加工模块的快速移动速度。目前，随行夹具的输送速度可达60m/min或更高些，加工模块快速移动速度达40m/min。目前，随行夹具高速输送装置常用的有电液比例阀控制的或摆线驱动的输送装置。70年代末期，Honsberg公司在其加工变速箱体的自动线上就采用了电液比例阀控制的输送装置。该自动线长18.2m，有12个加工工位，输送步距为1400mm，输送重量为7000kg，输送速度达45.6m/min，一个步距的输送时间仅为2.5s。为该输送装置的运动特性曲线。由于电液比例阀控制系统具有良好的启动和制动性能，且系统结构简单，至今，这种输送装置仍被许多自动线所采用。 3、组合机床柔性化进展迅速 十多年来，作为组合机床重要用户的汽车工业，为迎合人们个性化需求，汽车变型品种日益增多(图5)，以多品种展开竞争已成为汽车市场竞争的特点之一，这使组合机床制造业面临着变型多品种生产的挑战。为适应多品种生产，传统以加工单一品种的刚性组合机床和自动线必须提高其柔性。在70年代，数控系统的可靠性有了很大的提高，故到70年代末和80年代初，像Alfing、Hller-Hille和Ex-cell-o等公司相继开发出数控加工模块和柔性自动线(FTL)，从此数控组合机床和柔性自动线逐年增多。在1988年至1992年间，日本组合机床和自动线(包括部分其它形式的专用机床)产量的数控化率已达32%39%，产值数控比率达35%51%；德国组合机床和自动线产量的数控化率为18%62%，产值数控化率达45%66%(表2)。这些数字表明，近十年来，组合机床的数控化发展是十分迅速的。应指出，进入90年代以来，汽车市场竞争更趋激烈，产品市场寿命进一步缩短，新车型的开发周期日益缩短(目前一般为35个月)，汽车品种不断增多，因而汽车工业对柔性自动化技术装备的需求量日益增多。如日本丰田汽车公司，在本世纪末的目标是公司下属工厂的柔性化加工系统的普及率达到100%。很显然，组合机床及其自动线在保持其高生产效率的条件下，进一步提高其柔性就愈来愈具有重要意义。 组合机床的柔性化主要是通过采用数控技术来实现的。开发柔性组合机床和柔性自动线的重要前提是开发数控加工模块，而有着较长发展历史的加工中心技术为开发数控加工模块提供了成熟的经验。由数控加工模块组成的柔性组合机床和柔性自动线，可通过应用和改变数控程序来实现自动换刀、自动更换多轴箱和改变加工行程、工作循环、切削参数以及加工位置等，以适应变型品种的加工。柔性组合机床和柔性自动线用的数控加工模块，按其数控坐标(轴)数，主要有单坐标(Z)、双坐标(X-Z、Y-Z、Z-U和Z-B等)和三坐标(X-Y-Z)加工模块；按其主轴数，有单轴和多轴加工模块，也有单轴和多轴复合加工模块。 单坐标加工模块由数控滑台和主轴部件(或多轴箱，包括可换多轴箱)组成。双坐标加工模块由数控十字滑台和主轴部件组成，例如数控双坐标铣削模块。立柱移动式数控三坐标加工模块(图6)，其刀具能在三个坐
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