Joint type universal rotary table and multi-axis machine tool

Abstract

The invention discloses a joint type universal rotary table and a multi-axis machine tool, which are used for the field of machining equipment and robots, and through the arrangement of a rotary table assembly consisting of a rotary table, a supporting ball and a supporting column, on one hand, the rotary table can realize multidirectional movement under the matched driving of a rotary arm assembly and a power assembly; on the other hand, supporting is provided by the supporting ball and the supporting column, large acting force can be borne, and the problems existing in the prior art can be solved. The joint type universal rotary table comprises a rotary table assembly, a rotary arm assembly, a power assembly and a mounting seat, the rotary table assembly comprises a rotary table, a supporting ball and a supporting column which are arranged in sequence, and the supporting ball is fixedly connected with the rotary table; the rotating arm assembly comprises a first swing arm unit, a second swing arm unit and a third swing arm unit. The power assembly comprises a first hollow motor used for driving the first swing arm unit, a second hollow motor used for driving the second swing arm unit and a third hollow motor used for driving the third swing arm unit.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing equipment, and in particular to an articulated universal turntable and a multi-axis machine tool. Background Art

[0002] In multi-axis processing equipment, such as multi-axis CNC machine tools, processing in multiple directions is often required.

[0003] Taking CNC machine tools as an example, multi-axis CNC machine tools generally include X-axis, Y-axis, Z-axis, B-axis, C-axis and other auxiliary axes, which are divided into X, Y, and Z axes according to spatial coordinates. The B axis rotates around the Y axis, and the C axis rotates around the Z axis. When processing complex parts, sometimes the B axis or C axis is required to achieve multi-directional movement. Patent No. 2023101182561 discloses a universal turntable installed on the spindle of a multi-axis machine tool. It has a multi-directional movement function and can solve the above technical problems. However, the turntable 1 of this universal turntable is only supported by the arm assembly 2, and there is a defect that it cannot withstand a large force. When the turntable 1 is subjected to a large force, the arm assembly 2 may be deformed.

[0004] Therefore, in view of the above situation, how to improve the existing technology so as to solve the above problems has become an important technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The present invention discloses an articulated universal turntable and a multi-axis machine tool. By setting a turntable assembly consisting of a turntable, supporting balls and supporting columns, on the one hand, the turntable can realize multi-directional movement under the cooperative drive of a rotating arm assembly and a power assembly, and on the other hand, the support provided by the supporting balls and the supporting columns can withstand a large force, thereby solving the problems existing in the prior art.

[0006] The articulated universal turntable provided by the present invention comprises a turntable assembly, a rotating arm assembly, a power assembly and a mounting seat;

[0007] The turntable assembly includes a turntable, a supporting ball and a supporting column which are arranged in sequence, wherein the supporting ball is fixedly connected to the turntable;

[0008] The swing arm assembly includes a first swing arm unit, a second swing arm unit and a third swing arm unit, one end of the first swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat, one end of the second swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat, and one end of the third swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat;

[0009] The power assembly includes a first hollow motor for driving the first swing arm unit, a second hollow motor for driving the second swing arm unit, and a third hollow motor for driving the third swing arm unit;

[0010] The mounting seat is provided with slots for mounting the first hollow motor, the second hollow motor and the third hollow motor, one end of the support column is fixed in the slot and the other end is rollingly connected to the support ball, and the first hollow motor, the second hollow motor and the third hollow motor are all sleeved on the support column.

[0011] Preferably,

[0012] A slide rail is provided on the mounting seat;

[0013] The first swing arm unit comprises a first swing arm and a first driving component, two ends of the first swing arm are rotatably connected to the turntable and the first driving component respectively, and the first driving component is slidably mounted on the slide rail and driven by a first hollow motor;

[0014] The second swing arm unit includes a second swing arm and a second driving component, two ends of the second swing arm are rotatably connected to the turntable and the second driving component respectively, and the second driving component is slidably mounted on the slide rail and driven by a second hollow motor;

[0015] The third swing arm unit includes a third swing arm and a third driving component. The two ends of the third swing arm are rotatably connected to the turntable and the third driving component respectively. The third driving component is slidably installed on the slide rail and driven by a third hollow motor.

[0016] Preferably,

[0017] The first driving component comprises a first slide seat, a first connecting plate and a first driving member which are connected in sequence, wherein the first slide seat is slidably mounted on the slide rail, the first connecting plate is connected to the first swing arm, and the first driving member is connected to the first hollow motor and driven by the first hollow motor;

[0018] The second driving component comprises a second slide seat, a second connecting plate and a second driving member which are connected in sequence, wherein the second slide seat is slidably mounted on the slide rail, the second connecting plate is connected to the second swing arm, and the first driving member is connected to the second hollow motor and driven by the second hollow motor;

[0019] The third driving component includes a third slide, a third connecting plate and a third driving member connected in sequence, wherein the third slide is slidably mounted on the slide rail, the third connecting plate is connected to the third swing arm, and the third driving member is connected to the third hollow motor and driven by the third hollow motor.

[0020] Preferably,

[0021] The first swing arm, the second swing arm and the third swing arm have the same structure;

[0022] The first swing arm comprises a turntable connecting ear, a connecting arm and a driving connecting ear which are connected in sequence, wherein the plane where the turntable connecting ear is located is perpendicular to the plane where the driving connecting ear is located.

[0023] Preferably,

[0024] The slide rail is a circular slide rail;

[0025] The mounting seat comprises a slide rail, a cylinder and a bottom plate which are arranged in sequence from top to bottom, wherein a groove is formed inside the cylinder and the bottom plate.

[0026] Preferably,

[0027] The first hollow motor, the second hollow motor and the third hollow motor are sequentially installed in the slots from top to bottom, and holes for accommodating support columns are formed inside the slots.

[0028] Preferably,

[0029] A connecting platform is provided on the supporting ball;

[0030] The turntable is fixedly connected to the connecting platform;

[0031] A hemispherical groove is arranged on the supporting column, and the supporting ball matches with the hemispherical groove.

[0032] Preferably,

[0033] Three connecting ears are evenly arranged on the turntable;

[0034] The three connecting ears are respectively connected to the first swing arm unit, the second swing arm unit and the third swing arm unit.

[0035] Preferably,

[0036] The first hollow motor, the second hollow motor and the third hollow motor are all hollow direct drive motors;

[0037] A dust cover is also provided between the turntable and the mounting seat;

[0038] The support column, the rotating arm assembly and the dust cover are arranged in sequence from the inside to the outside.

[0039] The present invention also provides a multi-axis machine tool, comprising the above-mentioned articulated universal turntable;

[0040] The articulated universal turntable is mounted on the main shaft of the multi-axis machine tool.

[0041] The articulated universal turntable provided by the present invention comprises a turntable assembly, a swivel arm assembly, a power assembly and a mounting seat; the turntable assembly comprises a turntable, a supporting ball and a supporting column which are arranged in sequence, wherein the supporting ball is fixedly connected to the turntable; the swivel arm assembly comprises a first swing arm unit, a second swing arm unit and a third swing arm unit, one end of the first swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat, one end of the second swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat, one end of the third swing arm unit is mounted on the turntable and the other end is mounted on the mounting seat; the power assembly comprises a first hollow motor for driving the first swing arm unit, a second hollow motor for driving the second swing arm unit and a third hollow motor for driving the third swing arm unit; a slot for mounting the first hollow motor, the second hollow motor and the third hollow motor is arranged in the mounting seat, one end of the supporting column is fixed in the slot and the other end is rollingly connected to the supporting ball, and the first hollow motor, the second hollow motor and the third hollow motor are all sleeved on the supporting column. Through the arrangement of a turntable assembly consisting of a turntable, support balls and support columns, the articulated universal turntable and multi-axis machine tool of the present invention, on the one hand, can realize multi-directional movement of the turntable under the cooperative drive of the arm assembly and the power assembly, and on the other hand, the support provided by the support balls and support columns can withstand greater forces, thereby solving the problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a structural schematic diagram of an embodiment of a universal turntable of the present invention;

[0044] Figure 2 It is a schematic structural diagram of a universal turntable embodiment of the present invention after the dust cover 5 is hidden;

[0045] Figure 3 It is a cross-sectional view of the embodiment of the universal turntable of the present invention after the dust cover 5 is hidden;

[0046] Figure 4 It is a structural schematic diagram of a part of the structure hidden in the embodiment of the universal turntable of the present invention;

[0047] Figure 5 It is a schematic diagram of the structure of the support ball 12 in the embodiment of the universal turntable of the present invention;

[0048] Figure 6 It is a structural schematic diagram of the support column 13 in the embodiment of the universal turntable of the present invention;

[0049] Figure 7 It is a structural schematic diagram of the first swing arm 211 in the embodiment of the universal turntable of the present invention;

[0050] Figure 8 Schematic diagram of the structure of the mounting seat 4 in the embodiment of the universal turntable of the present invention. DETAILED DESCRIPTION

[0051] The present invention discloses an articulated universal turntable and a multi-axis machine tool. By setting a turntable assembly 1 composed of a turntable 11, a support ball 12 and a support column 13, on the one hand, the turntable 1 can realize multi-directional movement under the cooperative drive of a rotating arm assembly 2 and a power assembly 3, and on the other hand, the support provided by the support ball 12 and the support column 13 can withstand a large force, which can solve the problems existing in the prior art.

[0052] The following is a clear and detailed description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Please refer to Figures 1 to 8 , is an articulated universal turntable of the present invention, comprising a turntable assembly 1, a rotating arm assembly 2, a power assembly 3 and a mounting seat 4;

[0053] The turntable assembly 1 comprises a turntable 11, a support ball 12 and a support column 13 which are arranged in sequence, wherein the support ball 12 is fixedly connected to the turntable 11;

[0054] The swing arm assembly 2 includes a first swing arm unit 21, a second swing arm unit 22 and a third swing arm unit 23, one end of the first swing arm unit 21 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4, one end of the second swing arm unit 22 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4, and one end of the third swing arm unit 23 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4;

[0055] The power assembly 3 includes a first hollow motor 31 for driving the first swing arm unit 21, a second hollow motor 32 for driving the second swing arm unit 22, and a third hollow motor 33 for driving the third swing arm unit 23;

[0056] The mounting seat 4 has slots 41 for mounting the first hollow motor 31 , the second hollow motor 32 and the third hollow motor 33 , one end of the support column 13 is fixed in the slot 41 and the other end is rollingly connected to the support ball 12 , and the first hollow motor 31 , the second hollow motor 32 and the third hollow motor 33 are all sleeved on the support column 13 .

[0057] In the embodiment of the present invention, when the turntable 11 needs to rotate, the power assembly 3 drives the arm assembly 2 to move to different positions according to the different positions of the turntable 11, so as to realize the rotation of the turntable 11. The turntable 11 drives the support ball 12 to rotate while the turntable 11 rotates, and the support ball 12 rolls on the matching surface of the support column 13, that is, the turntable 11 is supported by the support column 13 through the support ball 12 during the rotation process, so the turntable 11 can withstand a large force. The above-mentioned power assembly 3 drives the arm assembly 2 to move to different positions. Specifically, the first hollow motor 31 drives the first swing arm unit 21 to swing, the second hollow motor 32 drives the second swing arm unit 22 to swing, and the third hollow motor 33 drives the third swing arm unit 23 to swing. It should be pointed out that in order to make the structure of the articulated universal turntable more compact, the present invention uses a hollow motor as a driving motor. In fact, it is also possible to use other motors for driving. Therefore, the structure of using an ordinary motor to drive the swing arm to control the turntable 11 should all belong to the protection scope of the present invention. In addition, the articulated universal turntable of the present invention can be used not only on processing equipment such as machine tools, but also as a joint of a robot, for example, as a connecting joint between the robot's body and head, as a connecting joint between the palm and the arm, etc.; it can also be used as a rotation joint of a robot hand, which is not limited here. In general, the articulated universal turntable of the present invention can be used in many mechanical scenarios, and any mechanical structure involving multi-directional rotation can be implemented by trying to use the structure of the present invention.

[0058] It must be pointed out that, generally speaking, the structures of the first swing arm unit 21 , the second swing arm unit 22 and the third swing arm unit 23 are similar, or even completely the same, which can facilitate production and maintenance.

[0059] Preferably,

[0060] The mounting seat 4 is provided with a slide rail 42;

[0061] The first swing arm unit 21 includes a first swing arm 211 and a first driving component 212. Both ends of the first swing arm 211 are rotatably connected to the turntable 11 and the first driving component 212 respectively. The first driving component 212 is slidably mounted on the slide rail 42 and driven by the first hollow motor 31.

[0062] The second swing arm unit 22 includes a second swing arm 221 and a second driving component 222. Both ends of the second swing arm 221 are rotatably connected to the turntable 11 and the second driving component 222 respectively. The second driving component 222 is slidably mounted on the slide rail 42 and driven by the second hollow motor 32.

[0063] The third swing arm unit 23 includes a third swing arm 231 and a third driving component 232 . Both ends of the third swing arm 231 are rotatably connected to the turntable 11 and the third driving component 232 , respectively. The third driving component 232 is slidably mounted on the slide rail 42 and driven by the third hollow motor 33 .

[0064] It should be noted that the first hollow motor 31 drives the first driving component 212 to slide on the slide rail 42, the second hollow motor 32 drives the second driving component 222 to slide on the slide rail 42, and the third hollow motor 33 drives the third driving component 232 to slide on the slide rail 42. By adjusting the positions of the first driving component 212, the second driving component 222, and the third driving component 232 on the slide rail 42, the position of the turntable 11 can be controlled by the first swing arm 211, the second swing arm 221, and the third swing arm 231, that is, the turntable 11 can be adjusted. It must be pointed out that this method of adjusting the position on the slide rail 42 is relatively accurate and more stable.

[0065] Preferably,

[0066] The first driving component 212 includes a first slide 2121, a first connecting plate 2122 and a first driving member 2123 which are connected in sequence, wherein the first slide 2121 is slidably mounted on the slide rail 42, the first connecting plate 2122 is connected to the first swing arm 211, and the first driving member 2123 is connected to the first hollow motor 31 and driven by the first hollow motor 31;

[0067] The second driving component 222 includes a second slide 2221, a second connecting plate 2222 and a second driving member 2223 which are connected in sequence, wherein the second slide 2221 is slidably mounted on the slide rail 42, the second connecting plate 2222 is connected to the second swing arm 221, and the first driving member 2223 is connected to the second hollow motor 32 and driven by the second hollow motor 32;

[0068] The third driving component 232 includes a third slide 2321, a third connecting plate 2322 and a third driving member 2323 which are connected in sequence, wherein the third slide 2321 is slidably installed on the slide rail 42, the third connecting plate 2322 is connected to the third swing arm 231, and the third driving member 2323 is connected to the third hollow motor 33 and driven by the third hollow motor 33.

[0069] It should be noted that the structures of the first slide 2121, the second slide 2221 and the third slide 2321 are the same or similar; the structures of the first connecting plate 2122, the second connecting plate 2222 and the third connecting plate 2322 are the same or similar; the structures of the first driving member 2123, the second driving member 2223 and the third driving member 2323 are substantially the same. Specifically, the first driving member 2123 may include a connecting plate and a driving ring, wherein the driving ring is a structure possessed by the first driving member 2123, the second driving member 2223 and the third driving member 2323, and the connecting plate has different lengths due to the different positions of the first hollow motor 31, the second hollow motor 32 and the third hollow motor 33. The first hollow motor 31 cooperates with the driving ring of the first driving member 2123, and the connecting plate of the first driving member 2123 connects the first connecting plate 2122 and the driving ring.

[0070] Preferably,

[0071] The first swing arm 211, the second swing arm 221 and the third swing arm 231 have the same structure;

[0072] The first swing arm 211 includes a turntable connecting ear 2111, a connecting arm 2112 and a driving connecting ear 2113 which are connected in sequence, wherein a plane where the turntable connecting ear 2111 is located is perpendicular to a plane where the driving connecting ear 2113 is located.

[0073] It should be noted that a reinforcement structure, such as a reinforcement rib, may be provided on the connecting arm 2112, which is not limited here.

[0074] Preferably,

[0075] The slide rail 42 is a circular slide rail;

[0076] The mounting base 4 includes a slide rail 42 , a cylinder 43 and a bottom plate 44 arranged in sequence from top to bottom, wherein a slot 41 is formed inside the cylinder 43 and the bottom plate 44 .

[0077] Preferably,

[0078] The first hollow motor 31 , the second hollow motor 32 and the third hollow motor 33 are sequentially installed in the slot 41 from top to bottom, and a hole for accommodating the support column 13 is formed inside.

[0079] Preferably,

[0080] A connecting platform 121 is provided on the supporting ball 12;

[0081] The turntable 11 is fixedly connected to the connecting platform 121;

[0082] A hemispherical groove 131 is provided on the support column 13 , and the support ball 12 matches with the hemispherical groove 131 .

[0083] Preferably,

[0084] Three connecting ears 111 are evenly arranged on the turntable 11;

[0085] The three connecting ears 111 are connected to the first swing arm unit 21 , the second swing arm unit 22 and the third swing arm unit 23 respectively.

[0086] Preferably,

[0087] The first hollow motor 31 , the second hollow motor 32 , and the third hollow motor 33 are all hollow direct drive motors;

[0088] A dust cover 5 is also provided between the turntable 11 and the mounting seat 4;

[0089] The support column 13, the rotating arm assembly 2 and the dust cover 5 are arranged in sequence from the inside to the outside.

[0090] The articulated universal turntable provided by the present invention comprises a turntable assembly 1, a turn arm assembly 2, a power assembly 3 and a mounting seat 4; the turntable assembly 1 comprises a turntable 11, a support ball 12 and a support column 13 which are arranged in sequence, wherein the support ball 12 is fixedly connected to the turntable 11; the turn arm assembly 2 comprises a first swing arm unit 21, a second swing arm unit 22 and a third swing arm unit 23, one end of the first swing arm unit 21 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4, one end of the second swing arm unit 22 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4, one end of the third swing arm unit 23 is mounted on the turntable 11 and the other end is mounted on the mounting seat 4; the power assembly 3 includes a first hollow motor 31 for driving the first swing arm unit 21, a second hollow motor 32 for driving the second swing arm unit 22 and a third hollow motor 33 for driving the third swing arm unit 23; a slot 41 for mounting the first hollow motor 31, the second hollow motor 32 and the third hollow motor 33 is provided in the mounting seat 4, one end of the support column 13 is fixed in the slot 41 and the other end is rollingly connected with the support ball 12, and the first hollow motor 31, the second hollow motor 32 and the third hollow motor 33 are all sleeved on the support column 13. Through the arrangement of the turntable assembly 1 composed of the turntable 11, the support ball 12 and the support column 13, the articulated universal turntable of the present invention, on the one hand, the turntable 1 can realize multi-directional movement under the cooperative drive of the turntable assembly 2 and the power assembly 3, and on the other hand, it is supported by the support ball 12 and the support column 13, can withstand a large force, and can solve the problems existing in the prior art.

[0091] The above describes an embodiment of the articulated universal turntable of the present invention. The following describes an embodiment of a multi-axis machine tool of the present invention. The present invention also provides a multi-axis machine tool, including the articulated universal turntable described above.

[0092] The articulated universal turntable is mounted on the main shaft of the multi-axis machine tool.

[0093] In an embodiment of the present invention, the articulated universal turntable can be installed on the spindle of a multi-axis machine tool, specifically the A-axis, B-axis or C-axis. As a multi-directional auxiliary axis, it can improve the processing flexibility of the multi-axis machine tool.

[0094] Through the arrangement of the turntable assembly 1 consisting of a turntable 11, support balls 12 and support columns 13, the multi-axis machine tool of the present invention, on the one hand, the turntable 1 can realize multi-directional movement under the cooperative drive of the arm assembly 2 and the power assembly 3, and on the other hand, it is supported by the support balls 12 and the support columns 13, so it can withstand a large force, and can solve the problems existing in the prior art.

[0095] The above is a detailed introduction to the articulated universal turntable and multi-axis machine tool provided by the present invention. For a person skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An articulated universal turntable, characterized in that: It comprises a turntable assembly (1), a rotating arm assembly (2), a power assembly (3) and a mounting seat (4); The turntable assembly (1) comprises a turntable (11), a supporting ball (12) and a supporting column (13) which are arranged in sequence, wherein the supporting ball (12) is fixedly connected to the turntable (11); The swing arm assembly (2) comprises a first swing arm unit (21), a second swing arm unit (22) and a third swing arm unit (23); one end of the first swing arm unit (21) is mounted on the turntable (11) and the other end is mounted on the mounting seat (4); one end of the second swing arm unit (22) is mounted on the turntable (11) and the other end is mounted on the mounting seat (4); one end of the third swing arm unit (23) is mounted on the turntable (11) and the other end is mounted on the mounting seat (4); The power assembly (3) comprises a first hollow motor (31) for driving the first swing arm unit (21), a second hollow motor (32) for driving the second swing arm unit (22), and a third hollow motor (33) for driving the third swing arm unit (23); A slot (41) for mounting a first hollow motor (31), a second hollow motor (32) and a third hollow motor (33) is provided in the mounting seat (4); one end of the support column (13) is fixed in the slot (41) and the other end is rollingly connected to the support ball (12); and the first hollow motor (31), the second hollow motor (32) and the third hollow motor (33) are all sleeved on the support column (13).

2. The articulated universal turntable according to claim 1, characterized in that: A slide rail (42) is provided on the mounting seat (4); The first swing arm unit (21) comprises a first swing arm (211) and a first driving component (212); two ends of the first swing arm (211) are rotatably connected to the turntable (11) and the first driving component (212) respectively; the first driving component (212) is slidably mounted on the slide rail (42) and driven by the first hollow motor (31); The second swing arm unit (22) comprises a second swing arm (221) and a second driving component (222), the two ends of the second swing arm (221) are rotatably connected to the turntable (11) and the second driving component (222) respectively, and the second driving component (222) is slidably mounted on the slide rail (42) and driven by the second hollow motor (32); The third swing arm unit (23) comprises a third swing arm (231) and a third driving component (232). The two ends of the third swing arm (231) are rotatably connected to the turntable (11) and the third driving component (232) respectively. The third driving component (232) is slidably mounted on the slide rail (42) and driven by a third hollow motor (33).

3. The articulated universal turntable according to claim 2, characterized in that: The first driving component (212) comprises a first sliding seat (2121), a first connecting plate (2122) and a first driving member (2123) which are connected in sequence, wherein the first sliding seat (2121) is slidably mounted on the slide rail (42), the first connecting plate (2122) is connected to the first swing arm (211), and the first driving member (2123) is connected to the first hollow motor (31) and driven by the first hollow motor (31); The second driving component (222) comprises a second slide seat (2221), a second connecting plate (2222) and a second driving member (2223) which are connected in sequence, wherein the second slide seat (2221) is slidably mounted on the slide rail (42), the second connecting plate (2222) is connected to the second swing arm (221), and the first driving member (2223) is connected to the second hollow motor (32) and driven by the second hollow motor (32); The third driving component (232) comprises a third slide seat (2321), a third connecting plate (2322) and a third driving member (2323) which are connected in sequence, wherein the third slide seat (2321) is slidably mounted on the slide rail (42), the third connecting plate (2322) is connected to the third swing arm (231), and the third driving member (2323) is connected to the third hollow motor (33) and driven by the third hollow motor (33).

4. The articulated universal turntable according to claim 2, characterized in that: The first swing arm (211), the second swing arm (221) and the third swing arm (231) have the same structure; The first swing arm (211) comprises a turntable connecting ear (2111), a connecting arm (2112) and a driving connecting ear (2113) which are connected in sequence, wherein the plane where the turntable connecting ear (2111) is located is perpendicular to the plane where the driving connecting ear (2113) is located.

5. The articulated universal turntable according to claim 2, characterized in that: The slide rail (42) is a circular slide rail; The mounting seat (4) comprises a slide rail (42), a cylinder (43) and a bottom plate (44) which are arranged in sequence from top to bottom, wherein a slot (41) is formed inside the cylinder (43) and the bottom plate (44).

6. The articulated universal turntable according to claim 1, characterized in that: The first hollow motor (31), the second hollow motor (32) and the third hollow motor (33) are sequentially installed in the slot (41) from top to bottom, and a hole for accommodating the support column (13) is formed inside.

7. The articulated universal turntable according to any one of claims 1 to 6, characterized in that: A connecting platform (121) is provided on the supporting ball (12); The rotating table (11) is fixedly connected to the connecting table (121); A hemispherical groove (131) is provided on the support column (13), and the support ball (12) matches the hemispherical groove (131).

8. The articulated universal turntable according to claim 7, characterized in that: Three connecting ears (111) are evenly arranged on the turntable (11); The three connecting ears (111) are respectively connected to the first swing arm unit (21), the second swing arm unit (22) and the third swing arm unit (23).

9. The articulated universal turntable according to claim 7, characterized in that: The first hollow motor (31), the second hollow motor (32) and the third hollow motor (33) are all hollow direct-drive motors; A dust cover (5) is also provided between the turntable (11) and the mounting seat (4); The support column (13), the rotating arm assembly (2) and the dust cover (5) are arranged in sequence from the inside to the outside.

10. A multi-axis machine tool, characterized in that: An articulated universal turntable according to any one of claims 1 to 9; The articulated universal turntable is mounted on the main shaft of the multi-axis machine tool.

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