Overhead machining device based on portable five-degree-of-freedom full parallel module

A machining device comprising:

• a table on which a machine tool, the machine tool comprising a portable 5-degree of freedom (5-DOF) parallel module, is slidably moved to a position of a component;
• a computer numerical control (CNC) rotary table;
• and
• the portable 5-degree of freedom (5-DOF) parallel module, which portable 5-DOF module is configured to interact with the CNC rotary table to achieve five-face machining of the component, a tool spindle of the portable 5-DOF parallel module is configured to move in a first swing angle range to convert between vertical and horizontal machining modes, wherein the portable 5-DOF parallel module comprises:
• a portable frame;
• the spindle;
• and
• a first kinematic chain, a second kinematic chain, a third kinematic chain, a fourth kinematic chain and a fifth kinematic chain, each of which is configured to connect the portable frame to the spindle to achieve five-axis motion of the spindle,
• wherein the first chain is connected to the portable frame through first and second revolute joints and to the spindle through a third revolute joint, rotation axes of the first and second revolute joints are angled relative to each other, the first chain comprises an input-driven first screw-nut pair, a first nut of the first screw-nut pair is enabled to rotate about a nut axis so as to cause a first screw of the first screw-nut pair to translate relative to the first nut along a length direction of the first chain;
• wherein each of the second, third, fourth, and fifth chains is connected to the portable frame through a respective pair of fourth and fifth revolute joints and to the spindle through a respective pair of sixth and seventh revolute joints, wherein a respective rotation axis of each of the fourth revolute joints is angled relative to a respective rotation axis of the corresponding fifth revolute joint, and wherein a respective rotation axis of each of the sixth revolute joints is angled relative to a respective rotation axis of the corresponding seventh revolute joint;
• wherein each of the second, third, fourth, and fifth chains comprises a respective input-driven second screw-nut pair, each second screw-nut pair comprising a respective second nut and a respective second screw, wherein each second nut is enabled to rotate about a respective nut axis so as to cause the corresponding second screw to translate relative to the corresponding second nut along a length direction of a corresponding one of the second, third, fourth, and fifth chains;
• and
• wherein each of the second, third, fourth, and fifth chains comprises a respective U-shaped rotary part, a respective spherical rotary part and a respective spindle mounting part, wherein each of the U-shaped rotary parts is fixedly connected with one end of the corresponding one of the second screws, which one end is located away from the corresponding one of the second nuts, wherein each of the U-shaped rotary parts is configured to be mounted on the corresponding one of the spherical rotary parts to form the corresponding sixth revolute joint, wherein each of the spherical rotary parts is configured to be mounted on the corresponding one of the spindle mounting parts to form the corresponding seventh revolute joint, and wherein each of the spindle mounting parts is fixedly connected with an outer side wall of the spindle.