Transformable universal manual machine tool

Abstract

The invention discloses a variable universal manual machine tool, which takes machine tool type optimization and composite function integration as a design concept, applies a mechanical arm design principle and a machine tool function combination principle, and adopts a design scheme that ten degrees of freedom, namely five translations and five rotations, are fused in a mixed structure consisting of a series manipulator and a parallel manipulator. Part of functional structures of various types and models of machine tools are subjected to ten-degree-of-freedom structure transformation including deformation of a mechanical arm, direction change of a universal platform, posture change of a tail end chuck and frequency conversion of a driving system, and various types of machine tool functions such as planing, drilling, turning, milling, boring, grinding, carving, dividing, cutting, carving and cutting needed in manual manufacturing are compositely integrated. The functions of various types of machine tools are combined and integrated into the variable universal manual machine tool for integrated application, the requirements of the working space between the universal platform and the tail end chuck, any pose and various working conditions are met, the creative adaptability of personal handwork is improved, and ordinary people can become a craftsman.

Description

1. Technical Field

[0001] The present invention relates to a variable universal manual machine tool, which is a hybrid structure with ten degrees of freedom composed of a robotic arm, a universal platform, a chuck at the end, and a drive system. More specifically, it relates to an electromechanical product in the manual machinery manufacturing industry that can be transformed into various types of machine tools. 2. Background Art

[0002] Modern people have a broader operating space and creative materials in the fields of craftsmanship and creative design. However, if a person wants to implement a mature craftsmanship or creative project, without the cooperation of skilled technical workers, their creative adaptability may face difficult or impossible challenges. Mainly, the difficult and painful problems in working conditions such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, and carving in the process of personal manual creation will make people flinch and do nothing, directly affecting the development of craftsmanship and creativity. There are a wide variety of modern manual tools. If a process for completing a craftsmanship production or creative design project requires many manual tools or intelligent devices, the comprehensive cost will be extremely high, not worth the effort, and will hinder the completion of the project. 3. Summary of the Invention

[0003] Therefore, the object of the present invention is to address the hot, difficult, and painful problems analyzed in the above background. With the design concept of optimizing the machine tool type and integrating composite functions, using the design principle of the robotic arm and the principle of combining machine tool functions, a design scheme of a hybrid structure composed of a serial manipulator and a parallel manipulator with a total of ten degrees of freedom, including five translations and five rotations, is adopted. By varying the partial functional structures of various types and models of machine tools through ten degrees of freedom, they are integrated into a hybrid structure to achieve the functional application effect that the sum of the parts is greater than the whole, and freely complete various working condition requirements in the working space between the chuck at the end and the universal platform. The hybrid structure with ten degrees of freedom is formed by hinging the universal platform and the chuck at the end at both ends of the robotic arm. An embedded fixed drive motor is installed in the housing of the chuck at the end. Through the five deformations of the robotic arm, namely bending, folding, telescoping, translation, and rotation, the four direction changes of the universal platform, namely translational sliding, longitudinal lifting, circumferential rotation, and circumferential translation, the two pose changes of the chuck at the end, namely circumferential rotation and translational sliding, and the two frequency conversions of the drive motor for regulating the rotational speed and reversing the direction, the structure types of various types of machine tools required in manual production, such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, and carving, are transformed, so that the functions of multiple models of machine tools are compounded and integrated into a variable universal manual machine tool, which can independently and comprehensively complete the working space, arbitrary pose, and working condition processing requirements between the universal platform and the chuck at the end, improve the individual's manual creative adaptability, and empower ordinary people to become master craftsmen.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] A variable universal manual machine tool, characterized in that: it consists of a robotic arm, a universal platform, a terminal chuck, and a drive system to form a hybrid structure with ten degrees of freedom. The two ends of the robotic arm are hinged to the universal platform and the terminal chuck respectively. A drive motor is embedded in the housing of the terminal chuck. Through the ten degrees of freedom formed by the deformation of the robotic arm, the change of direction of the universal platform, the posture change of the terminal chuck, and the frequency conversion of the drive system, including five rotations and five translations, the structures of various types of machine tools required in manual manufacturing, such as planers, drills, lathes, milling machines, boring machines, grinders, engraving machines, dividing machines, cutting machines, and carving machines, are transformed, so that the functions of multiple models of machine tools are optimally combined into a variable universal manual machine tool, realizing any pose and various working conditions requirements in the working space between the universal platform and the terminal chuck.

[0006] The features of the present invention also lie in that: among the ten degrees of freedom of the hybrid structure, the ten degrees of freedom are the five rotations between the mechanical chuck and the square housing, between the square housing and the heads of the left and right curved arms, between the three sections of the left curved arm head, left curved arm middle, and left elbow joint in series and the three sections of the right curved arm head, right curved arm middle, and right elbow joint in series, which are six coaxial three-section hinges in total, and between the concave plate and the convex plate of the rotating chassis, plus the five translations between the square housing and the heads of the left and right curved arms, between the left elbow joint and the tail of the left curved arm and between the right elbow joint and the tail of the right curved arm, which are two coaxial one-section hinges in total, between the tails of the left and right curved arms and the platform base, between the platform panel and the rotating chassis, and between the rotating chassis and the platform base, totaling ten degrees of freedom. The five rotations are locked by set screws and several other identical set screws, and the five translations are locked by bolts and several other bolts. The parallel robotic arm formed by two series-connected manipulators of the left and right curved arms in parallel with cross beams one and two is in an eye-shaped structure, and its two ends are hinged to the terminal chuck with an embedded drive system and the universal platform, integrating a total of four parts into a hybrid structure.

[0007] The features of the present invention also lie in that: the robotic arm is formed by the parallel and serial connection of a left curved arm, a right curved arm, a crossbeam one, and a crossbeam two in a "mu" character structure. The structures, sizes, and working principles of the left curved arm and the right curved arm are the same. The left curved arm is successively hinged by a left curved arm head, a left curved arm middle section, a left elbow joint, and a left curved arm tail into a left serial robotic arm. The left curved arm head, the left curved arm middle section, and the left elbow joint are successively hinged by an outer hub nested with an inner hub. Each adjacent section can rotate and fold. There are several setscrews for locking control between the outer hub and the inner hub. The left elbow joint is slidably hinged in the upper side groove of the left curved arm tail and can translate and stretch, and is locked by bolts on the base. The right curved arm is successively hinged by a right curved arm head, a right curved arm middle section, a right elbow joint, and a right curved arm tail into a right serial robotic arm. The right curved arm head, the right curved arm middle section, and the right elbow joint are successively hinged by an outer hub nested with an inner hub. Each adjacent section can rotate and fold. There are several setscrews for locking control between the outer hub and the inner hub. The right elbow joint is slidably hinged in the upper side groove of the right curved arm tail and can translate and stretch, and is locked by bolts on the base. The two ends of the crossbeam one and the crossbeam two are connected in parallel in the grooves on the opposite sides of the left curved arm tail and the right curved arm tail, so that the two serial robotic arms of the left curved arm and the right curved arm are combined into a parallel robotic arm. Four supports are respectively fixed at the four bottom ends of the left curved arm tail and the right curved arm tail.

[0008] The features of the present invention also lie in that: the universal platform is successively movably connected from top to bottom by a profile tabletop, a rotating chassis, a lifting bracket, and a platform base. The profile tabletop and the rotating chassis are regulated by a screw three for circumferential rotation and circumferential translation. The rotation of the rotating chassis is controlled by a thread lock. Its longitudinal lifting with the platform base is regulated by a screw two. The lateral translation of the universal platform is regulated by a screw one.

[0009] The features of the present invention also lie in that: the end chuck is formed by the movable connection of a square box seat and a mechanical chuck. After the grooves on both sides of the square box seat are connected to external equipment, it can translate and slide and rotate circumferentially.

[0010] The features of the present invention also lie in that: the drive system is composed of a power plug, an inverter, a frequency conversion wire, a drive motor, and a motor shaft seat. The power plug, the inverter, the frequency conversion wire, and the drive motor are fixedly connected in sequence from outside to inside. The drive motor is embedded and fixed in the square box seat. The motor shaft seat is fixedly connected to the mechanical chuck. The steering and speed of the drive motor are controlled by the inverter.

[0011] The features of the present invention also lie in that: the left curved arm head and the right curved arm head of the robotic arm are respectively movably connected to the front groove and the rear groove on both sides of the end chuck. The grooves on both sides of the left curved arm tail and the right curved arm tail are respectively movably connected to both ends of the universal platform base. Any pose between the end chuck and the universal platform can be adjusted by the free deformation of ten degrees of freedom among the end chuck, the drive system, the robotic arm, and the universal platform to achieve the flexible application of manual processing and machining.

[0012] The above-mentioned robotic arm is composed of a left curved arm, a right curved arm, crossbeam one, and crossbeam two, which are connected in parallel and series to form a square structure. The left and right curved arms have the same structure and size, and are successively composed of four sections: the arm head, the arm middle, the elbow joint, and the arm tail, which are articulated in series to form two series manipulators on the left and right. The arm head, the arm middle, and the elbow joint are successively articulated by an outer hub nested with an inner hub, and adjacent sections can rotate at a full circle angle and are locked by several set screws on the outer hub. The elbow joint is slidably articulated in the upper side groove of the arm tail and is locked by several bolts on the base. The two ends of crossbeam one and crossbeam two are movably connected in parallel in the grooves on the opposite sides of the left arm tail and the right arm tail, so that the left curved arm and the right curved arm are connected in parallel. The full circle rotation between the series joints and the sliding articulation in the groove enable the hybrid structure to deform freely. Four supports are fixed at the four bottom ends of the left arm tail and the right arm tail respectively.

[0013] The above-mentioned end chuck is an end effector articulated to the head of the robotic arm for clamping or grasping objects, and is composed of a square box seat and a mechanical chuck connected movably. After the left and right arm heads are articulated in the grooves on both sides of the square box seat, the end chuck can rotate at a full circle angle and translate and slide.

[0014] The above-mentioned drive system is composed of a power plug, a frequency converter, a frequency conversion wire, a drive motor, and a motor seat. The power plug, the frequency converter, the frequency conversion wire, and the drive motor are fixedly connected in sequence from the outside to the inside. The drive motor is embedded and fixed in the square box seat, and the motor seat is fixedly connected to the mechanical chuck. The steering and speed of the drive motor are controlled by the frequency converter.

[0015] The above-mentioned universal platform is successively movably connected by four parts: a profile tabletop, a rotating chassis, a lifting bracket, and a platform base. The profile tabletop and the rotating chassis can rotate at a full circle angle and translate at a full circle angle. The rotating chassis and the platform base are movably connected by a lifting bracket. When the threaded rod in the lifting bracket is rotated, the inner cross is opened and closed accordingly to complete the longitudinal lifting of the profile tabletop. When the threaded rod of the platform base is rotated, the universal platform can move horizontally forward and backward and translate.

[0016] The above-mentioned mechanical chuck is a mechanical device used in current industrial production on machine tools to clamp or grasp workpieces and position them.

[0017] The above-mentioned frequency converter (VFD) is a current general-purpose electronic control device that uses frequency conversion technology and microelectronics technology to change the power frequency method to control the drive motor to drive the mechanical chuck.

[0018] The beneficial effects of the present invention are mainly reflected in five aspects:

[0019] 1. Stimulate the creative vitality of the masses. When there are no processing obstacles in the transformation process of a mature creative design, good idea, or technical achievement, everything can be within reach, which is conducive to the masses' creativity to form new productive forces and promote social innovation.

[0020] 2. Quality improvement and upgrading of traditional handicrafts. The application of advanced production tools integrating machining and hand processing can empower the modernization and technological innovation of traditional handicrafts, enhance market competitiveness, reduce waste, and improve resource utilization efficiency and product quality.

[0021] 3. Application of platforms from micro to giant. Application platforms can be variant from micro universal platforms to giant work space processing.

[0022] 4. Integrated development of traditional and intelligent. The integration of handmade works with AI software opens up new horizons for artificial intelligence manufacturing and learning.

[0023] 5. Enhance the survival value in the AI era. The fun of using both brain and hands enables people to re - understand and enrich themselves in the process of manufacturing. IV. Description of the Drawings

[0024] Figure 1 , Overall structure diagram of the appearance of a variable universal manual machine tool.

[0025] Figure 2 , Structure diagram of the robotic arm.

[0026] Figure 3 , Structure diagram of the left curved arm.

[0027] Figure 4 , Cross - sectional view of the left elbow joint.

[0028] Figure 5 , Structure diagram of the right curved arm.

[0029] Figure 6 , Structure diagram of the appearance of the universal platform.

[0030] Figure 7 , Longitudinal cross - sectional view of the universal platform.

[0031] Figure 8 , Structure diagram of the appearance of the end chuck.

[0032] Figure 9 , Structure diagram of the drive system.

[0033] Figure 10 , Circuit diagram.

[0034] In the figure: 1, robotic arm; 2, universal platform; 3, end chuck; 4, drive system; 5, left curved arm; 6, right curved arm; 7, crossbeam 1; 8, crossbeam 2; 9, support; 10, head of left curved arm; 11, middle of left curved arm; 12, left elbow joint; 13, tail of left curved arm; 14, front outer hub; 15, front inner hub; 16, front setscrew; 17, front bolt; 18, head of right curved arm; 19, middle of right curved arm; 20, right elbow joint; 21, tail of right curved arm; 22, platform base; 23, lifting bracket; 24, rotating chassis; 25, platform panel; 26, screw 1; 27, outer concave plate; 28, round convex plate; 29, upper partition plate; 30, base plate; 31, screw 2; 32, cross; 33, screw 3; 34, profile plate; 35, handle 3; 36, thread lock; 37, handle 2; 38, handle 1; 39, mechanical chuck; 40, square box seat; 41, concave chute; 42, motor shaft seat; 43, drive motor; 44, frequency conversion wire; 45, frequency converter; 46, power plug. V. Specific implementation manners

[0035] The following further describes the machine tool function combination principle and the robotic arm design principle of the present invention with reference to the accompanying drawings in two embodiments:

[0036] The first embodiment describes the hybrid structure and function combination in the machine tool function combination principle of the present invention;

[0037] The second embodiment describes the variable application of ten degrees of freedom in the robotic arm design principle of the present invention;

[0038] A variable universal manual machine tool, characterized in that: it consists of four parts, namely a robotic arm, a universal platform, an end chuck, and a drive system, to form a hybrid structure with ten degrees of freedom. The head and tail ends of the robotic arm are hinged to the universal platform and the end chuck respectively. A drive motor is embedded in the box seat of the end chuck. Through the deformation of the robotic arm, the change of direction of the universal platform, the pose change of the end chuck, and the frequency conversion of the drive system, a total of five rotations and five translations form ten degrees of freedom, enabling the structural transformation of various types of machine tools such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, and carving required in manual production, optimizing the combination of the functions of various models of machine tools into a variable universal manual machine tool, and realizing any pose and various working condition requirements in the working space between the universal platform and the end chuck.

[0039] Figure 1It is an overall structure diagram of the appearance of a variable universal manual machine tool, which consists of four parts: a robotic arm 1, a universal platform 2, a chuck 3 at the end, and a drive system 4. The two ends of the robotic arm 1 are movably connected to the universal platform 2 and the chuck 3 at the end. The drive motor in the drive system 4 is fixed in the housing of the chuck 3 at the end. Through the deformation of the robotic arm 1, the change of direction of the universal platform 2, the change of posture of the chuck 3 at the end, and the frequency conversion of the drive system 4, various types of machine tools required in manual production, such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, carving, etc., are structurally transformed, so that the functions of various models of machine tools are recombined to form a variable universal manual machine tool, which can self-service and comprehensively meet the working conditions requirements of the distance, direction, angle, dimension, speed, posture, tool, translation, and rotation between the universal platform and the chuck at the end.

[0040] Figure 2 It is a structure diagram of the robotic arm, which is composed of a left curved arm 5, a right curved arm 6, a crossbeam 7, and a crossbeam 8 in parallel and series to form a "eye" character structure. The structures, sizes, and working principles of the left curved arm 5 and the right curved arm 6 are the same, forming a double-support and variable structure. The bottom end of the left curved arm 5 is fixed with a support 9, and so on. Four ends at the bottom of the left curved arm 5 and the right curved arm 6 are each fixed with a support.

[0041] Figure 3 It is a structure diagram of the left curved arm, which is composed of four components: the head of the left curved arm 10, the middle of the left curved arm 11, the left elbow joint 12, and the tail of the left curved arm 13 in series. The head of the left curved arm 10, the middle of the left curved arm 11, and the left elbow joint 12 are successively hinged by an outer hub nested with an inner hub. Adjacent components can be folded, bent, and rotated by a full circle. The left elbow joint 12 is hinged in the upper groove of the tail of the left curved arm 13 and can slide horizontally and stretch in length. Two supports are fixed at the bottom end of the tail of the left curved arm 13.

[0042] Figure 4 It is a cross-sectional view of the left elbow joint. The front outer hub 14 and the nested front inner hub 15 can be rotated by a full circle and are locked by the front set screw 16. The horizontal sliding and lengthwise stretching of the left elbow joint 12 in the upper groove of the tail of the left curved arm 13 are locked by the front bolt 17.

[0043] Figure 5 It is a structure diagram of the right curved arm, which is composed of four components: the head of the right curved arm 18, the middle of the right curved arm 19, the right elbow joint 20, and the tail of the right curved arm 21 in series. The head of the right curved arm 18, the middle of the right curved arm 19, and the right elbow joint 20 are successively hinged by an outer hub nested with an inner hub. Adjacent components can be folded, bent, and rotated by a full circle. The right elbow joint 20 is hinged in the upper groove of the tail of the right curved arm 21 and can slide horizontally and stretch in length.

[0044] Figure 6 It is an appearance structure diagram of the universal platform. The universal platform 2 is successively movably connected from top to bottom by a platform panel 25, a rotating chassis 24, a lifting bracket 23, and a platform base 22.

[0045] Figure 7 It is a longitudinal sectional view of the universal platform. The components of the platform panel 25 include a profile plate 34, a screw rod III 33, and a handle III 35. The components of the rotating chassis 24 are composed of an outer concave plate 27, a round convex plate 28, and a thread lock 36. The round convex plate 28 is fixedly connected to the bottom of the platform panel. The components of the lifting bracket 23 include a screw rod II 31, a handle II 37, and a cross 32. At the upper end of the cross 32, there is an upper partition plate 29 with a slide rail, which is fixedly connected to the outer concave plate 27, and the lower end is movably connected to the slide rail on the base plate 30. The components of the platform base 22 include a screw rod I 26, a base plate 30, and a handle I 38.

[0046] Figure 8 It is an external structure diagram of the end chuck. The components of the end chuck 3 include a mechanical chuck 39, a square box seat 40, and concave chutes 41. There is a bearing for movable connection between the mechanical chuck 39 and the square box seat 40. There are two identical and symmetrical concave chutes on each of the two side surfaces of the square box seat 40 for the concave chutes 41 on the square box seat 40.

[0047] Figure 9 It is a structure diagram of the drive system. The components of the drive system 4 include a motor shaft seat 42, a drive motor 43, a frequency conversion wire 44, a frequency converter 45, and a power plug 46. The motor shaft seat 42 is the rotor shaft seat of the drive motor 43 and is fixedly connected to the mechanical chuck 39 outside the square box seat 40. The drive motor 43 is fixed inside the square box seat 40 and is connected to the external frequency converter 45 by the frequency conversion wire 44. The frequency converter 45 is externally connected to the power plug 46 at the same time.

[0048] Figure 10 It is a circuit diagram. The rated voltage of this manual machine tool is AC220V. The drive system controlled by the frequency converter can be connected in parallel with the weak-current DC motor controlled by the adapter for external backup to increase the combined function of the machine tool, and both are connected by a plug-and-play power socket.

[0049] The first embodiment consists of Figure 1 , Figure 2 , Figure 3 , Figure 5 It can be seen that in the robotic arm 1, the left curved arm 5 in which the left curved arm head 10, the left curved arm middle 11, the left elbow joint 12, and the left curved arm tail 13 are connected in series in sequence is longitudinally connected in parallel with the right curved arm 6 in which the right curved arm head 18, the right curved arm middle 19, the right elbow joint 20, and the right curved arm tail 21 are connected in series in sequence, and forms a square structure with the cross beam I 7 and the cross beam II 8, making the end chuck 3 and the universal platform 2 movably connected at both ends into a stable double-support and flexible hybrid structure.

[0050] From Figure 1 , Figure 3 , Figure 5 , Figure 8It can be seen that after the left bent arm head 10 and the right bent arm head 18 are respectively connected to the concave sliding grooves on both sides of the square box seat 40 to form a double support structure, the end chuck 3 can perform two posture changes: circumferential rotation and translational sliding.

[0051] From Figure 1 , Figure 2 , Figure 6 , Figure 7 It can be seen that after the universal platform 2 is connected to the concave sliding grooves on the sides of the left bent arm tail 13 and the right bent arm tail 21, the handle three 35 controls the circumferential translation and circumferential rotation of the profile plate 34 through the screw three 33, the thread lock 36 controls the rotation between the outer concave plate 27 and the circular convex plate 28, the handle two 37 drives the opening and closing of the cross 32 through the screw two 31 to control the longitudinal lifting between the upper partition plate 29 and the base plate 30, and the handle one 38 controls the translational sliding of the base plate 30 between the left bent arm 5 and the right bent arm 6 after connecting to the concave sliding grooves of the left bent arm tail 13 and the right bent arm tail 21 through the screw one 26. That is, the handle three 35, the thread lock 36, the handle two 37, and the handle one 38 mutually regulate the four-direction transformations of translational sliding, longitudinal lifting, circumferential rotation, and circumferential translation of the universal platform 2.

[0052] From Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 It is described that a variable universal manual machine tool consists of four parts: a robotic arm 1, a universal platform 2, an end chuck 3, and a drive system 4, forming a double support and variable hybrid structure. The two ends of the robotic arm 1 are movably connected to the universal platform 2 and the end chuck 3. The drive motor 43 of the drive system 4 is embedded in the square box seat 40 of the end chuck 3. Through the double support of the left bent arm 5 and the right bent arm 6 in the robotic arm 1 and their five deformations of bending, folding, stretching, translational sliding, and circumferential rotation, the four direction changes of translational sliding, longitudinal lifting, circumferential rotation, and circumferential translation of the universal platform 2, the two posture changes of circumferential rotation and translational sliding of the end chuck 3, and the speed regulation and two-frequency conversion of positive and negative directions of the drive system 4, the structural transformation of various types and models of machine tools required in manual manufacturing is carried out, and their functions are optimally combined to form a multi-variable universal manual machine tool, which can independently complete the arbitrary pose working condition requirements between the universal platform 2 and the end chuck 3.

[0053] The second embodiment consists of Figure 2 , Figure 3 , Figure 4 , Figure 5It is described that the robotic arm 1 is composed of a left curved arm 5, a right curved arm 6, a cross beam 7, and a cross beam 8, which are connected in parallel and in series to form a structure like the Chinese character "mu". The left curved arm 5 consists of four sections, namely the left curved arm head 10, the left curved arm middle 11, the left elbow joint 12, and the left curved arm tail 13, which are connected in series in sequence. The right curved arm 6 also consists of four sections, namely the right curved arm head 18, the right curved arm middle 19, the right elbow joint 20, and the right curved arm tail 21, which are connected in series in sequence. The double-support structure, the size of the components, the circumferential rotation between each section, the translational sliding or telescoping between the left elbow joint 12 and the left curved arm tail 13, and the translational sliding or telescoping between the right elbow joint 20 and the right curved arm tail 21 are all the same and synchronous. The sections of the left curved arm 5 and the sections of the right curved arm 6 together form a variable structure with five same and various deformations, including bending, folding, telescoping, translational sliding, and circumferential rotation. The circumferential rotation between the front outer hub 14 and the front inner hub 15 of the left elbow joint 12 connected to each other is locked by a front set screw 16 and several identical set screws. By analogy, the circumferential rotation between the elbow joints with the outer hub nested inside the inner hub in other sections is locked by several identical set screws. The translational sliding or telescoping of the left elbow joint 12 connecting to the concave chute of the left curved arm tail 13 is locked by a front bolt 17 and several identical bolts. By analogy, the connections with translational sliding or telescoping of the concave chute are all locked by several identical bolts. The bottom end of the left curved arm 5 is fixed to a support 9. By analogy, a same support is fixed at each of the four bottom ends of the left curved arm 5 and the right curved arm 6.

[0054] It is composed of Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 It is described that the ten degrees of freedom in the hybrid structure are the five rotations between the mechanical chuck 39 and the square box seat 40, between the square box seat 40 and the left curved arm head 10 and the right curved arm head 18, between the six coaxial three-segment hinges of the two sets of three sections in series of the left curved arm head 10, the left curved arm middle 11, and the left elbow joint 12 and the three sections in series of the right curved arm head 18, the right curved arm middle 19, and the right elbow joint 20, between the outer concave plate 27 and the round convex plate 28 of the rotating chassis 24, plus the five translations between the square box seat 40 and the left curved arm head 10 and the right curved arm head 18, between the one-segment hinge of the two coaxial parts of the left elbow joint 12 and the left curved arm tail 13 and the right elbow joint 20 and the right curved arm tail 21, between the left curved arm tail 13 and the right curved arm tail 21 and the platform base 22, between the platform panel 25 and the rotating chassis 24, and between the rotating chassis 24 and the platform base 22, totaling ten degrees of freedom. The five rotations are locked by the front set screw 16 and several other identical set screws, and the five translations are locked by the front bolt 17 and several other bolts. The robotic arm 1, which is formed by the parallel connection of two series-connected manipulators of the left curved arm 5 and the right curved arm 6 and combined with the cross beam 7 and the cross beam 8 to form a structure like the Chinese character "mu", has a hybrid structure integrated with four parts, namely the end chuck 3 and the universal platform 2 of the drive motor 43 embedded at the articulated ends of its head and tail in the drive system 4.

[0055] by Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 It shows that when the robotic arm 1 is fixed on other physical bases, through the posture transformation of the end chuck 3, the frequency conversion of the drive system 4, and the deformation of the three sections of the left curved arm 5, namely the left curved arm head 10, the left curved arm middle 11, and the left elbow joint 12, and the three sections of the right curved arm 6, namely the right curved arm head 18, the right curved arm middle 19, and the right elbow joint 20, the end chuck 3 is also applicable to the hand processing and machining production in a giant working space other than the micro universal platform 2, without being restricted by the size of the workpiece and the platform.

[0056] In summary:

[0057] A variable universal manual machine tool, characterized in that: it consists of four parts, namely a robotic arm 1, a universal platform 2, an end chuck 3, and a drive system 4, to form a hybrid structure with ten degrees of freedom. The two ends of the robotic arm 1 are hinged to the universal platform 2 and the end chuck 3. A drive motor 43 is embedded in the square box seat 40 of the end chuck 3. Through the deformation of the robotic arm 1, the direction change of the universal platform 2, the posture transformation of the end chuck 3, and the frequency conversion of the drive system 4, a structural transformation with ten degrees of freedom is formed by five rotations and five translations. The functions of various types of machine tools required in manual production, such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, carving, and cutting, are integrated, and the functions of multiple types of machine tools are optimally combined into a variable universal manual machine tool, realizing the working space, arbitrary postures, and various working conditions requirements between the universal platform 2 and the end chuck 3.

[0058] The ten degrees of freedom in the hybrid structure are the five rotations between the mechanical chuck 39 and the square box seat 40, between the square box seat 40 and the left curved arm head 10 and the right curved arm head 18, and among the three sections of the two groups of series-connected left curved arm head 10, left curved arm middle 11, and left elbow joint 12 and the three sections of the series-connected right curved arm head 18, right curved arm middle 19, and right elbow joint 20, which are six coaxial three-section hinges, and between the concave outer plate 27 and the convex circular plate 28 of the rotating chassis 24. Plus, the five translations between the square box seat 40 and the left curved arm head 10 and the right curved arm head 18, between the left elbow joint 12 and the left curved arm tail 13 and between the right elbow joint 20 and the right curved arm tail 21, which are two coaxial one-section hinges, between the left curved arm tail 13 and the right curved arm tail 21 and the platform base 22, between the platform panel 25 and the rotating chassis 24, and between the rotating chassis 24 and the platform base 22, totaling ten degrees of freedom. The five rotations are locked by the front set screw 16 and several other identical set screws, and the five translations are locked by the front bolt 17 and several other bolts. The robotic arm 1, which is formed by the parallel connection of two series-connected manipulators, the left curved arm 5 and the right curved arm 6, and the crossbeams one 7 and two 8, is in an eye-shaped structure, and its two ends are hinged to the end chuck 3 with a drive motor 43 embedded in the drive system 4 and the universal platform 2, integrating a total of four parts into a hybrid structure.

[0059] The robotic arm 1 is formed by the parallel and serial connection of the left curved arm 5, the right curved arm 6, the crossbeam one 7, and the crossbeam two 8 in a rectangular structure. The structures, sizes, and working principles of the left curved arm 5 and the right curved arm 6 are the same. The left curved arm 5 is successively composed of four sections: the left curved arm head 10, the left curved arm middle 11, the left elbow joint 12, and the left curved arm tail 13, which are hinged to form a left serial robotic arm. The joints of the left curved arm head 10, the left curved arm middle 11, and the left elbow joint 12 are successively hinged by an outer hub nested with an inner hub. The adjacent joints of each section can rotate and fold. There are several set screws for locking control between the outer hub and the inner hub. The left elbow joint 12 is slidably hinged in the upper side groove of the left curved arm tail 13 and can be translated and telescoped, and is locked by bolts on the base. The right curved arm 6 is successively composed of four sections: the right curved arm head 18, the right curved arm middle 19, the right elbow joint 20, and the right curved arm tail 21, which are hinged to form a right serial robotic arm. The joints of the right curved arm head 18, the right curved arm middle 19, and the right elbow joint 20 are successively hinged by an outer hub nested with an inner hub. The adjacent joints of each section can rotate and fold. There are several set screws for locking control between the outer hub and the inner hub. The right elbow joint 20 is slidably hinged in the upper side groove of the right curved arm tail 21 and can be translated and telescoped, and is locked by bolts on the base. The two ends of the crossbeam one 7 and the crossbeam two 8 are connected in parallel in the grooves on the opposite sides of the left curved arm tail 13 and the right curved arm tail 21, so that the two serial robotic arms of the left curved arm 5 and the right curved arm 6 are combined into a robotic arm 1 with a rectangular structure. A support is fixed at each of the four bottom ends of the left curved arm tail 13 and the right curved arm tail 21.

[0060] The universal platform 2 is successively movably connected from top to bottom by four parts: the platform panel 25, the rotating chassis 24, the lifting bracket 23, and the platform base 22. The components of the platform panel 25 include the profile plate 34, the screw three 33, and the handle three 35. The components of the rotating chassis 24 are composed of the outer concave plate 27, the circular convex plate 28, and the thread lock 36. The circular convex plate 28 is fixedly connected to the bottom of the platform panel 25. The components of the lifting bracket 23 include the upper partition plate 29, the screw two 31, the cross 32, and the handle two 37. At the upper end of the cross 32, there is an upper partition plate 29 with a slide rail, which is fixedly connected to the outer concave plate 27, and the lower end is movably connected to the slide rail on the base plate 30. The components of the platform base 22 include the screw one 26, the base plate 30, and the handle one 38. After the universal platform 2 is connected to the concave slide grooves on the sides of the left curved arm tail 13 and the right curved arm tail 21, the handle three 35 controls the circumferential translation and circumferential rotation of the profile plate 34 through the screw three 33. The thread lock 36 controls the rotation between the outer concave plate 27 and the circular convex plate 28. The handle two 37 drives the opening and closing of the cross 32 through the screw two 31 to control the longitudinal lifting between the upper partition plate 29 and the base plate 30. The handle one 38 controls the translational sliding of the base plate 30 between the left curved arm 5 and the right curved arm 6 after connecting the concave slide grooves of the left curved arm tail 13 and the right curved arm tail 21 through the screw one 26. That is, the handle three 35, the thread lock 36, the handle two 37, and the handle one 38 mutually regulate the four-directional transformations of the translational sliding, longitudinal lifting, circumferential rotation, and circumferential translation of the universal platform 2.

[0061] The components of the end chuck 3 include a mechanical chuck 39, a square box seat 40, and concave sliding grooves 41. There is a bearing for movable connection between the mechanical chuck 39 and the square box seat 40. There are two identical and symmetrical concave sliding grooves on each of the two side surfaces of the square box seat 40 for the concave sliding grooves 41 on the square box seat 40.

[0062] The components of the drive system 4 include a motor shaft seat 42, a drive motor 43, a frequency conversion wire 44, a frequency converter 45, and a power plug 46. The motor shaft seat 42 is the rotor shaft seat of the drive motor 43 and is fixedly connected to the mechanical chuck 39 outside the square box seat 40. The drive motor 43 is fixed inside the square box seat 40 and is connected to an external frequency converter 45 by the frequency conversion wire 44. The frequency converter 45 is externally connected to the power plug 46 at the same time.

[0063] When the robotic arm 1 is fixed to other physical bases, through the posture change of the end chuck 3, the frequency conversion of the drive system 4, and the deformation of the three sections of the left crank arm 5, namely the left crank arm head 10, the left crank arm middle 11, and the left elbow joint 12, and the three sections of the right crank arm 6, namely the right crank arm head 18, the right crank arm middle 19, and the right elbow joint 20, the end chuck 3 is also applicable to the manual processing and machining production of giant working platforms other than the micro universal platform 2, without being restricted by the size of the workpiece and the platform.

Claims

1. A variable universal hand-operated machine tool, characterized in that: It consists of four parts: a robotic arm (1), a universal platform (2), an end chuck (3), and a drive system (4) to form a hybrid structure with ten degrees of freedom. The two ends of the robotic arm (1) are hinged to the universal platform (2) and the end chuck (3). A drive motor (43) is embedded in the square box seat (40) of the end chuck (3). Through the structural transformation of ten degrees of freedom formed by five rotations and five translations, namely, the deformation of the robotic arm (1), the change of direction of the universal platform (2), the pose change of the end chuck (3), and the frequency conversion of the drive system (4), the functions of machine tools such as planing, drilling, turning, milling, boring, grinding, engraving, dividing, cutting, and carving required in manual manufacturing are integrated, so that the functions of this type of machine tool are optimally combined into a variable universal manual machine tool, realizing any pose and working condition requirements in the working space between the universal platform (2) and the end chuck (3).

2. The variable universal manual machine tool according to claim 1, characterized in that: The ten degrees of freedom in the hybrid structure are five rotations between the mechanical chuck (39) and the square box seat (40), between the square box seat (40) and the left crank arm head (10) and the right crank arm head (18), and among six coaxial three-segment hinges, namely, the three segments of the left crank arm head (10), the left crank arm middle (11), and the left elbow joint (12) in series and the three segments of the right crank arm head (18), the right crank arm middle (19), and the right elbow joint (20) in series, and between the concave outer plate (27) and the convex circular plate (28) of the rotating chassis (24), plus five translations between the square box seat (40) and the left crank arm head (10) and the right crank arm head (18), between the left elbow joint (12) and the left crank arm tail (13) and between the right elbow joint (20) and the right crank arm tail (21), between the left crank arm tail (13) and the right crank arm tail (21) and the platform base (22), between the platform panel (25) and the rotating chassis (24), and between the rotating chassis (24) and the platform base (22), totaling ten degrees of freedom. The five rotations are locked by the front set screw (16) and several other identical set screws, and the five translations are locked by the front bolt (17) and several other bolts. The robotic arm (1) in the shape of a square formed by the parallel connection of two series-connected manipulators, the left crank arm (5) and the right crank arm (6), and the combination of crossbeam one (7) and crossbeam two (8), with its two ends hinged to the end chuck (3) and the universal platform (2) that embed the drive motor (43) in the drive system (4), is integrated into a hybrid structure of four parts.

3. A variable universal manual machine tool according to claim 1, characterized in that: The robotic arm (1) is formed by the parallel and serial combination of the left curved arm (5), the right curved arm (6), the first cross beam (7), and the second cross beam (8) into a square-like structure. The structures, sizes, and working principles of the left curved arm (5) and the right curved arm (6) are the same. The left curved arm (5) is successively composed of the left curved arm head (10), the left curved arm middle (11), the left elbow joint (12), and the left curved arm tail (13), which are hinged in four sections to form a left serial robotic arm. The joints of the left curved arm head (10), the left curved arm middle (11), and the left elbow joint (12) are successively hinged with the outer hub nesting the inner hub. The adjacent joints can rotate and fold. There are several setscrews for locking control between the outer hub and the inner hub. The left elbow joint (12) is slidably hinged in the upper side groove of the left curved arm tail (13) and can translate and extend, which is locked by the bolts on the base. The right curved arm (6) is successively composed of the right curved arm head (18), the right curved arm middle (19), the right elbow joint (20), and the right curved arm tail (21), which are hinged in four sections to form a right serial robotic arm. The joints of the right curved arm head (18), the right curved arm middle (19), and the right elbow joint (20) are successively hinged with the outer hub nesting the inner hub. The adjacent joints can rotate and fold. There are several setscrews for locking control between the outer hub and the inner hub. The right elbow joint (20) is slidably hinged in the upper side groove of the right curved arm tail (21) and can translate and extend, which is locked by the bolts on the base. The two ends of the first cross beam (7) and the second cross beam (8) are connected in parallel in the grooves on the opposite sides of the left curved arm tail (13) and the right curved arm tail (21), so that the two serial robotic arms of the left curved arm (5) and the right curved arm (6) are combined into a robotic arm (1) with a square-like structure. A support is fixed at each of the four bottom ends of the left curved arm tail (13) and the right curved arm tail (21).

4. A variable universal manual machine tool according to claim 1, characterized in that: The universal platform (2) is sequentially and movably connected from top to bottom by four parts: a platform panel (25), a rotating chassis (24), a lifting bracket (23), and a platform base (22). The components of the platform panel (25) include a profile plate (34), screw three (33), and handle three (35). The components of the rotating chassis (24) are composed of an outer concave plate (27), a circular convex plate (28), and a thread lock (36). The circular convex plate (28) is fixedly connected to the bottom of the platform panel (25). The components of the lifting bracket (23) include an upper partition plate (29), screw two (31), a cross (32), and handle two (37). At the upper end of the cross (32), there is an upper partition plate (29) with a slide rail fixedly connected to the outer concave plate (27), and at the lower end, it is movably connected to the slide rail on the base plate (30). The components of the platform base (22) include screw one (26), base plate (30), and handle one (38). After the universal platform (2) is connected to the concave sliding grooves on the sides of the left curved arm tail (13) and the right curved arm tail (21), the handle three (35) controls the circumferential translation and rotation of the profile plate (34) through the screw three (33). The thread lock (36) controls the rotation between the outer concave plate (27) and the circular convex plate (28). The handle two (37) drives the cross (32) to open and close through the screw two (31) to control the longitudinal lifting between the upper partition plate (29) and the base plate (30). The handle one (38) controls the translation of the base plate (30) between the left curved arm (5) and the right curved arm (6) after connecting to the concave sliding grooves of the left curved arm tail (13) and the right curved arm tail (21) through the screw one (26). That is, the handle three (35), the thread lock (36), the handle two (37), and the handle one (38) mutually regulate the transformation of the translation, lifting, and rotation of the universal platform (2).

5. A variable universal hand machine tool according to claim 1, characterized in that: The components of the end chuck (3) include a mechanical chuck (39), a square box seat (40), and a concave sliding groove (41). There is a bearing movable connection between the mechanical chuck (39) and the square box seat (40). There are two identical and symmetrical concave sliding grooves on each of the two side faces of the square box seat (40) for the concave sliding groove (41) on the square box seat (40).

6. The variable universal manual machine tool according to claim 1, characterized in that: The components of the drive system (4) include a motor shaft seat (42), a drive motor (43), a frequency conversion wire (44), a frequency converter (45), and a power plug (46). The motor shaft seat (42) is the rotor shaft seat of the drive motor (43) and is fixedly connected to the mechanical chuck (39) outside the square box seat (40). The drive motor (43) is fixed inside the square box seat (40) and is connected to an external frequency converter (45) by a frequency conversion wire (44). The frequency converter (45) is externally connected to the power plug (46) at the same time.

7. A variable universal manual machine tool according to claim 1, characterized in that: When the robotic arm (1) is fixed to other physical bases, through the posture transformation of the end chuck (3), the frequency conversion of the drive system (4), and the deformation of the three sections of the left curved arm head (10), left curved arm middle (11), and left elbow joint (12) of the left curved arm (5) and the three sections of the right curved arm head (18), right curved arm middle (19), and right elbow joint (20) of the right curved arm (6), the end chuck (3) is also applicable to the manual processing and machining production of large-scale working condition platforms other than the micro-universal platform (2), without being restricted by the size of the workpiece and the platform.

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