A symmetrical tri-axial parallel spindle head capable of multi-directional fixed-point rotation, comprising three branch chains (2), a moving base (5), and a fixed base (1). A machining spindle (6) is fixedly connected onto the moving base (5). Each of the branch chains (2) comprises a servo motor (22), a branch chain rod (21), a lead screw (23), and a guide nut (25). The lead screw (23) and a linear guide rail (24) are provided in an inner cavity on one end of the branch chain rod (21). One end of the lead screw (23) is connected to the servo motor (22), the lead screw (23) passes through the guide nut (25), and the other end of the lead screw (22) is connected to the branch chain rod (21) by means a rotating pair. The guide nut (25) is mounted on the linear guide rail (24) and is rotatably connected to the fixed base (1) through a first support disc (26). The other end of the branch chain rod (21) is rotatably connected to the moving base (5) through a second support disc (28). The symmetrical three-axial parallel spindle head not only can enable the tool to achieve multi-directional fixed-point rotation around any point within a certain range of the internal space of the moving and fixed platforms merely by the parallel spindle head structure itself, but also can achieve multi-directional fixed-point rotation around the tool tip point; and the spindle head structure is symmetrical, and the motion characteristic is also symmetrical.

The present invention discloses an overhead machining device based on a portable 5-DOF full parallel module. The overhead machining device based on a portable 5-DOF full parallel module comprises: a sliding table for moving a parallel module to increase the stroke of the machine tool such that the machine tool can machine large components and can also simultaneously conduct the mounting and the machining of workpieces at different stations; a CNC rotary table; and a portable 5-DOF full parallel module. The portable parallel module has a large swing angle range, can conduct the conversion between vertical and horizontal machining modes and can achieve five-face machining in one setup in cooperation with the CNC rotary table. The parallel module can move flexibly, and can machine large and complex components after mounted on the sliding table.

A multifunctional end effector includes a support structure configured to be carried by a robotic system and at least two of a fluid stream cutting system, a spindle system and/or a scanning system, each mounted to the support structure. Also described is a fluid stream cutting system having a plurality of fluid stream catchers selectively mountable to the fluid stream system and a mounting arrangement for mounting each fluid stream catcher to the fluid stream cutting system.

A machine includes a main shaft on the tip of which a tool is mounted, a main shaft head for supporting the main shaft, a main shaft head support for supporting the main shaft head so as to be able to rotate around a first axis line that extends perpendicular to the rotational axis line of the main shaft, a first rotary feed shaft device provided on the main shaft head support for rotary feeding of the main shaft head around the first axis line, a saddle that supports the main shaft head support, a second rotary feed shaft device provided on the saddle for rotary feeding of the main shaft head support around the second rotational axis line, and a restricting means for restricting the range of rotary feeding of the first rotary feed shaft device.

A machine tool has: a main shaft head that supports the main shaft; a main shaft head support part which supports the main shaft head such that the main shaft head can rotate around a first axis that extends perpendicular to the main shaft axis of rotation; a first rotary feed shaft device which is provided in the main shaft head support part, and rotates and feeds the main shaft head around the first axis; a saddle which supports the main shaft head support part such that the main shaft head support part can rotate around a second axis that is perpendicular to the first axis and inclined with respect to the vertical direction; and a second rotary feed shaft device which is provided in the saddle, and rotates and feeds the main shaft head support part around a second axis of rotation.

A machine for cutting or beveling a pipe. A cutter unit rotates around the pipe while cutting any surface of the pipe after gripping and fixing the pipe. The machine includes: a main body which a pipe passes through the center portion thereof to be fixed; and a cutter unit coupled to the main body unit rotates around the fixed pipe to cut or bevel the pipe. The cutter unit may have a rotating unit on one side to pull the cutter unit aside and a locking unit on the other side to restrain or release the cutter unit. An entry control unit operating the cutter unit includes: a lever gear-engaged with an outer side surface of an entry control plate; and a clutch formed on a rotation shaft of the lever such that the restraint is released when the lever is lifted or pressed in the axial direction.

The invention relates to a machine tool (M) comprising a kinematic structure (100) that moves an electric spindle (300) in a plane perpendicular to the axis of the electric spindle (300), notable in that said kinematic structure (100) is an articulated structure comprising two articulated arms (110, 120) articulated about axes of rotation parallel to the axis of the electric spindle (300), the second end (122) of the second arm (120) accepting the electric spindle (300), the translational movement of the workpiece (P) with respect to the tool (O) of the electric spindle (300) in a linear movement parallel to the axis of the electric spindle (300) being brought about by a workpiece (P) support module (200) or by a plate support module (130).

A multifunctional end effector includes a support structure configured to be carried by a robotic system and at least two of a fluid stream cutting system, a spindle system and/or a scanning system, each mounted to the support structure. Also described is a fluid stream cutting system having a plurality of fluid stream catchers selectively mountable to the fluid stream system and a mounting arrangement for mounting each fluid stream catcher to the fluid stream cutting system.

A multifunctional end effector includes a support structure configured to be carried by a robotic system and at least two of a fluid stream cutting system, a spindle system and/or a scanning system, each mounted to the support structure. Also described is a fluid stream cutting system having a plurality of fluid stream catchers selectively mountable to the fluid stream system and a mounting arrangement for mounting each fluid stream catcher to the fluid stream cutting system.

A machine for cutting or beveling a pipe. A cutter unit rotates around the pipe while cutting any surface of the pipe after gripping and fixing the pipe. The machine includes: a main body which a pipe passes through the center portion thereof to be fixed; and a cutter unit coupled to the main body unit rotates around the fixed pipe to cut or bevel the pipe. The cutter unit may have a rotating unit on one side to pull the cutter unit aside and a locking unit on the other side to restrain or release the cutter unit. An entry control unit operating the cutter unit includes: a lever gear-engaged with an outer side surface of an entry control plate; and a clutch formed on a rotation shaft of the lever such that the restraint is released when the lever is lifted or pressed in the axial direction.