Patent ID: 12202088

The figures depict various embodiments of the technology for the purposes of illustration only. A person of ordinary skill in the art will readily recognize from the following discussion that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the technology described herein.

DETAILED DESCRIPTION OF THE INVENTION

Reference will now be made in detail to the preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the preferred embodiments, it will be understood that they are not intended to limit the invention to these embodiments. On the contrary, the invention is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be obvious to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the present invention.

Within the scope of the present description, the reference to “an embodiment” or “the embodiment” or “some embodiments” means that a particular feature, structure or element described with reference to an embodiment is comprised in at least one embodiment of the described object. The sentences “in an embodiment” or “in the embodiment” or “in some embodiments” in the description do not therefore necessarily refer to the same embodiment or embodiments. The particular feature, structures or elements can be furthermore combined in any adequate way in one or more embodiments.

Within the scope of the present description, the word “omni-directional” means all directions of a spherical coordinate covering the same space of the Cartesian XYZ coordinates system399. The X-axis and Z-axis translational (or linear) movements, the rotational Y-axis and Z-axis of the head tool assembly; the Y-axis translational movements, and the rotation 360° around the Y-axis enable CNC machining apparatus300to approach from any angle and operate precisely at any location regardless of the proximity of these points on workpiece321.

Within the scope of the present description, the words “connected”, “connecting”, “coupled”, “coupling”, “connections”, “coupled”, “bolted”, “laid”, “positioned”, “attached”, “attaching”, “affixed”, “affixing” are used to mean attaching between two described members using screws, nails, tongs, prongs, clips, spikes, staples, pins, male and female nuts, buttons, sleeves, lugs, cams, handles, bars, fasteners, connectors, or the likes.

Within the scope of the present description, the words “connected”, “connecting”, “coupled”, “coupling”, “connections”, “coupled” are used to mean wired and/or wireless connections. Wired connections include electrically conducting wires, cables, lines, coaxial cables, strips, or the likes. Conducting wires are made of conductors such as coppers, aluminum, gold, or the likes. Wireless connections include electromagnetic waves, short range communication channels include ZigBee™/IEEE 802.15.4, Bluetooth™, Z-wave, NFC, Wi-fi/802.11, cellular (e.g., GSM, GPRS, WCDMA, HSPA, and LTE, 5G, etc.), IEEE 802.15.4, IEEE 802.22, ISA100a, wireless USB, and Infrared (IR), LoRa devices, etc. Medium range wireless communication channels in this embodiment of communication link161include Wi-fi and Hotspot. Long range wireless communication channels include UHF/VHF radio frequencies.

Within the scope of the present description, the word “network” includes data center, cloud network, or network such as nano network, body area network (BAN), personal area network (PAN), local area network (LAN), campus/corporate area network (CAN), metropolitan area network (MAN), wide area network (WAN), and mesh area networks, or any combinations thereof.

Within the scope of the present description, the word “rotation”, “rotating”, “rotate” includes clockwise and/or counterclockwise direction.

Within the scope of the present invention, the Cartesian XYZ coordinate (x, y, z) also includes equivalent spherical coordinate (r, ⊖, Φ), and/or cylindrical coordinate (r, ⊖, Φ) that can determine the direction of movement or coordinate of a point of any members of CNC machining apparatus.

Referring now to the drawings and specifically toFIG.3, a three-dimension (3D) diagram of a computer numerical control (CNC) machining apparatus300in accordance with an exemplary embodiment of the present invention is illustrated. CNC machining apparatus300includes a first base301spanning along a Y-axis of a XYZ Cartesian coordinate399. First base301, of length L and width W, includes a proximate end301P and a distal end301D. On a top surface301T of first base301, a second base302is firmly erected along a Z-axis near distal end301D. In advantageous embodiments, second base302is shaped like an upside down U gantry which allows first base301to go under it. The legs of the upside down U gantry spans on the two edges of first base301. On top surface301T, a workpiece rail support base303is deposited substantially at the center of first base301and ran along length L in the Y-axis. A pair of a first workpiece rail304and a second workpiece rail305are spun along the edges of workpiece rail support base303. Along the sides of workpiece rail support base303, a first lateral track306and a second lateral track307are deposited. The function of first and second lateral tracks306and307will be seen later. On top of second base302, an X-axis tool head support310is attached. On both sides of X-axis tool head support310along the X-axis, a first X-axis tool head rail311and a second X-axis tool head rail312substantially parallel to first X-axis tool head rail311are laid. A CNC controller box350is affixed to the back side of second base302and X-axis tool head support310. CNC controller box350contains important electrical hardware and software that numerically control the entire operation of CNC machining apparatus300.

Referring again toFIG.3, a tool head support assembly400is movably connected to X-axis tool head support310. Tool head support assembly400carries a tool head (machining) unit500. In many aspects of the present invention, tool head support assembly400is designed to move in an omni-directional. In the present disclosure, the omni-directional is defined to include 360° continuous rotations around Z-axis and Y-axis and translational movements along the X-axis and the Z-axis of XYZ Cartesian coordinate399. Tool head unit500contains various tools that are replaceable for different machining jobs. That is, these tools can be substituted with other tools as required by the design specification. In some advantageous embodiments, different tool heads can be stored and retrieved from a base like a Swiss knife. In some other embodiments of the present invention, an electric saw is one of the tools so that a workpiece can be cut at any angle, at any side, and at any length by virtue of the omni-directional movements of tool head unit500described above.

Continuing withFIG.3, a first rotatable clamp600A and a second rotatable clamp600B are coupled to slide on first workpiece rail304and second workpiece rail305. Structurally, first rotatable clamp600A and second rotatable clamp600B are the same but they are arranged in a reverse direction to each other. That is, the back of first rotatable clamp600A is set first near proximate end301P, while that of second rotatable clamp600B is disposed near distal end301D, resulting in the balance and stability for a workpiece321. In operation, first rotatable clamp600A and second rotatable clamp600B operate and rotate independently. More particularly, first rotatable clamp600A can hold and move workpiece321along first and second workpiece rails304and305while second rotatable clamp600B is in a release state. In many advantageous embodiments of the present invention, first rotatable clamp600A and second rotatable clamp600B include a four-directional square clamp configured to always hold workpiece321at its center of gravity. In addition, both first and second rotatable clamps600A and600B are designed to rotate continuously 360° around the Y-axis independently. It is noted that the use of more than two workpiece clamps is still within the scope of the present invention. Tool head support assembly400, tool head unit500, first rotatable clamp600A, and second rotatable clamp600B will be described in details in the following FIGS.

Now referring toFIG.4, a 3D diagram of the internal structure of tool head support assembly400enabling tool head unit500to move in an omni-directional in accordance with an exemplary embodiment of the present invention is illustrated.FIG.4,FIG.4A, andFIG.4Bdemonstrate that tool head support assembly400is configured to move in the omni-directional as defined above inFIG.3. To begin with, tool head support assembly400includes a first X-axis sliding board401with a first X-axis slider402, a second X-axis slider403, a third X-axis slider404, and a fourth X-axis slider405. These first to fourth X-axis sliders402-405are attached on the back side of X-axis sliding board401. First X-axis tool head rail311and second X-axis tool head rail312are coupled to first to fourth X-axis sliders402-405. As such, first X-axis sliding board401can slide along the X-axis by means of an X-axis tool head moving assembly400A.

Continuing withFIG.4, a Z-axis rail support board420is fastened on the front side of tool head support assembly400. A first Z-axis rail428and a second Z-axis rail429(not shown inFIG.4) are deposited along the edges of Z-axis rail support board420. A first Z-axis slider432, a second Z-axis slider433(not shown inFIG.4), a third Z-axis slider434(not shown inFIG.4), and a fourth Z-axis slider435are coupled to first and second Z-axis rails428and429respectively so that Z-axis rail support board420moves up and down in the Z-axis, contributing to the omni-directional of tool head support assembly400. This Z-axis translational movement is realized by a Z-axis rotor support board423connected to the top of Z-axis rail support board420and secured by a first X-axis triangular support bracket421and a second X-axis triangular support bracket422. A Z-axis rotor424is laid on top of Z-axis rotor support board423. Z-axis rotor424includes a Z-axis driving gear425coupled to drive a Z-axis driven gear426. A screwed handle is connected to a Z-axis sliding board431at one end and Z-axis driven gear426at the other end. Four Z-axis sliders432-435connects Z-axis sliding board431to slide on first and second Z-axis rails428and429respectively. A Z-axis sensor427is used to sense the velocity Vzand the location of tool head unit500. A first horizontal tool head support board438is connected at a right angle to Z-axis sliding board431and secured by a first Z-axis triangular support bracket and a436and second Z-axis triangular support bracket437. The translational movements in X-axis and Z-axis of tool head support assembly400as described above and inFIG.3are facilitated by X-axis tool head moving assembly400A and Z-axis moving unit400B which are described next.

Now referring toFIG.4A, a 3D perspective diagram of X-axis tool head moving assembly400A in accordance with an exemplary embodiment of the present invention is illustrated. X-axis tool head moving assembly400A includes an X-axis moving end410and an X-axis fixed end411. An X-axis ball screw412links and imparts rotation from X-axis moving end410to X-axis fixed end411. X-axis moving end410includes, an X-axis sensor417coupled to drive an X-axis rotor413using an X-axis driving pulley414which, in turn, is coupled to an X-axis driven pulley415and X-axis pulley belt416. This X-axis driven pulley415is again coupled an X-axis moving side ball nut housing410B and an X-axis lock screw (stopper)410A. In the driven assembly, a fixed side ball nut housing411A is coupled to a fixed side support unit411B which is, in turn, coupled to a second fixed side support unit411C, and a X-axis lock screw (stopper)411D. When X-axis rotor413is turned on, it imparts a translational movement of X-axis sliding board401at a velocity Vxalong the X-axis of XYZ Cartesian coordinate399. X-axis sensor417records the positions and velocity Vxof X-axis sliding board401.

Next, referring toFIG.4B, a perspective 3D diagram of Z-axis moving unit400B in accordance with an exemplary embodiment of the present invention is illustrated. Starting from first base301to Z axis rotor support board423, Z-axis moving unit400B includes an Z-axis end bearing support426G, a Z-axis first shaft coupler426E, a Z-axis ball screw426A, a Z-axis bracket426C, a Z-axis flanged nut426B, a Z-axis second shaft coupler426D, a Z-axis ball housing426F, and Z-axis driven gear coupled to Z-axis driving gear425. In one embodiment of the present invention, the mechanical connections of the above assembling components are as shown inFIG.4B. In operation, when Z-axis rotor424is turned on, it imparts a translational movement of A first horizontal tool head support board438at a velocity Vzalong the Z-axis of XYZ Cartesian coordinate399. Z-axis sensor427records the positions and velocity Vzof Z-axis sliding board431.

Next, referring toFIG.5, a 3D diagram of the tool head unit500arranged in different planes to achieve versatility in accordance with an exemplary embodiment of the present is illustrated. Within the scope of the present invention, “different planes” means that the geometrical planes containing each machining tools are not parallel or the same. These planes are intersected to one another. A Z-axis tool head rotor501, bolted firmly on the surface of first horizontal tool head support board438, which includes a Z-axis driving gear502, a Z-axis driven gear503, a Z-axis end bearing support504, and a Z-axis rotation sensor505. Z-axis rotation sensor505senses the angular positions and angular velocityzof tool head unit500. A second horizontal tool head support board510is connected to first horizontal tool head support board438via a through hole and Z-axis end bearing support504. A tool head main support board520is attached perpendicular to second horizontal tool head support board510along the Z-axis. A third Z-axis triangular support bracket511, a fourth Z-axis triangular support bracket512, a fifth Z-axis triangular support bracket513, and a sixth Z-axis triangular support bracket514are used to secure the connections between second tool head support board510and tool head main support board520respectively. A Y-axis tool head rotor521including a Y-axis tool head rotation driving gear522, a Y-axis tool head rotation driven gear523, a Y-axis tool head rotation ball nut housing524, and Y-axis tool head rotation sensor525. Y-axis tool head sensor525senses the angular positions and angular velocityyof a tool head530. In various embodiments of the present invention, tool (machining) head530includes a tool head base531, a cutting tool (saw)532, a sanding tool (sander)533, a drilling tool534, and a chuck chisel tool535. Cutting tool532is arranged in a separate YZ plane, while other tools533-535are arranged in a XZ plane at an obtuse angle relative to one another. With this novel arrangement, cutting tool (saw)532can move and rotate to cut workpiece321at any amount, any angle, and any location along its length.

Referring now toFIG.6which illustrates a 3D perspective diagram depicting the internal structure of first and second rotatable clamps600A-600B in accordance with an embodiment of the present invention is illustrated. In some embodiments of the present invention, first and second rotatable clamps600A-600B have different structures. In many advantageous embodiments, first and second rotatable clamps600A-600B have the same structure but they are positioned opposite to each other. In all embodiments, first and second rotatable clamps600A-600B are operated independently and designed to lock a workpiece in from four directions resulting in the clamping force is distributed evenly at the center of gravity of workpiece321. Structurally, first and second rotatable clamps600A and600B each includes a transport assembly600, a four-direction square clamp assembly700, a workpiece rotation assembly800, and a rotation and clamp bracket910. Transport assembly600moves first rotatable clamp600A or600B along X-axis first and second tool head rails311-312back and forth along the Y-axis. Four-direction square clamp assembly700rotates workpiece321360° around the Y-axis. Workpiece rotation assembly800holds workpiece321by clamping in from four directions so that the clamping force is distributed evenly at the center of gravity of workpiece321.

Referring toFIG.6A, a 3D rear view of transport assembly is shown.FIG.6andFIG.6Ashow the complete structure of transport assembly600which includes a transport housing601having a first Y-axis clamp slider602A and a second Y-axis clamp slider602B coupled to slide translationally in the Y-axis along first workpiece rail304and second workpiece rail305respectively. This translational movement is made possible by a Y-axis clamp rotor611coupled to a principal Y-axis clamp axle615, a Y-axis main driving gear620(not shown), a Y-axis main driven gear621, a first principal ball nut housing616, and a second principal ball nut housing617. Outside of transport housing601, a first Y-axis clamp auxiliary driven pulley603, a second Y-axis clamp auxiliary driven pulley604, a first Y-axis clamp pulley belt605, a second Y-axis clamp pulley belt606, a third Y-axis clamp auxiliary driven pulley607, a fourth Y-axis clamp auxiliary driven wheel608are all coupled to main axle615. Next, a first auxiliary end stopper603A is coupled to first Y-axis clamp auxiliary driven pulley603. A second auxiliary end stopper604A is coupled to second Y-axis clamp auxiliary driven pulley604. A third auxiliary end stopper613is coupled to third Y-axis clamp auxiliary driven pulley607. A fourth auxiliary end stopper614is coupled to fourth Y-axis clamp auxiliary driven pulley608. Finally, a first Y-axis clamp ball nut housing609is mechanically connected to third auxiliary end stopper613and to a first Y-axis sliding gear618. A second Y-axis clamp ball nut housing610is mechanically connected to fourth auxiliary end stopper614and to a second Y-axis sliding gear619. A Y-axis clamp sensor612is coupled to sense the translational movements of Y-axis clamp rotor611.

These parts are assembled together as shown inFIG.6,FIG.6A, andFIG.9. In operation, when Y-axis clamp rotor611is activated, principal Y-axis clamp axle615causes Y-axis main driving gear620to rotate, which imparts rotational motions to first driven auxiliary pulley603, second Y-axis auxiliary driven pulley604, third Y-axis clamp auxiliary driven pulley607, and fourth Y-axis clamp auxiliary driven pulley608by means of first Y-axis clamp pulley belt605and second Y-axis clamp pulley belt606respectively. These rotational motions cause first Y-axis sliding gear618and second Y-axis sliding gear619to move back and forth along first lateral track306and second lateral track307. As a result, first Y-axis clamp slider602A and second Y-axis clamp slider602B impart translational movement of transport housing601in the Y-axis along first workpiece rail304and second workpiece rail305respectively.

Referring next toFIG.7, a 3D diagram of four-direction square clamp700designed to consistently clamp the workpiece at its center of gravity in accordance with an embodiment of the present invention is illustrated. Four-direction square clamp700includes a first vertical arm710, a second vertical arm720, a first horizontal arm730, and a second horizontal arm740. First vertical arm710includes a first screwed hole711, a second screwed hole712, a first insertion opening713, a first coupling tooth714, and a second coupling tooth715. Similarly, second vertical arm720includes a third screwed hole721, a fourth screwed hole722, a second insertion opening723, a third coupling tooth724, and a fourth coupling tooth725. First horizontal arm730includes a fifth screwed hole731, a sixth screwed hole732, a third insertion opening733, a fifth coupling tooth734, and sixth coupling tooth735. Second horizontal arm740includes a seventh screwed hole741, an eighth screwed hole742, a fourth coupling opening743, a seventh coupling tooth744, and an eighth coupling tooth745. Four-direction square clamp700also includes a first bi-directional screw750, a second bi-directional screw760, third bi-directional screw770, and a fourth bi-directional screw780. For connections, first vertical arm710is coupled to first and second horizontal arms730and740by coupling first insertion opening713into those of733and743respectively. Second vertical arm720is coupled to first and second horizontal arms730and740by coupling first insertion opening723into those of733and743respectively. In return, first horizontal arm730is coupled to first and second vertical arms710and720by coupling second insertion opening723into those of first insertion opening713and second insertion opening723respectively. Second horizontal arm740is coupled to first and second vertical arms710and720by coupling fourth insertion opening743into those of first insertion opening713and second insertion opening723respectively.

Continuing withFIG.7, first bi-directional screw750includes a first bi-directional screw holder751, a first direction screw thread752, a first thread divider753, and a second direction screw thread754opposite to first direction screw thread752. Next to first bi-directional screw750, a first vertical arm motor755coupled to a first vertical arm sensor756, a first vertical arm driving pulley757, a first vertical arm driven pulley758, a first direction arm pulley belt759. Second bi-directional screw760includes a third direction screw thread762, a second thread divider763, and a fourth direction screw thread764opposite in direction to third direction screw thread762. Third direction screw thread762is held by a second bi-directional screw holder761. Attached to first vertical arm driving pulley757includes a second vertical arm driven pulley765, a second vertical arm driven pulley766, and a second vertical arm pulley belt767. Next, third bi-directional screw770includes a third horizontal arm driven pulley776, a fifth direction screw thread772, a third thread divider773, and a sixth direction screw thread774opposite to fifth direction screw thread772. Connected to third bi-directional screw holder771includes a third horizontal arm driving pulley775, a third horizontal arm driven pulley776, a third direction arm pulley belt777, a horizontal arm rotor778, and a horizontal arm sensor779. Finally, fourth bi-directional screw780includes a fourth bi-directional screw holder781, a seventh direction screw thread782, a fourth thread divider783, and an eighth direction screw thread784opposite to seventh direction crew thread782. Attached to third horizontal arm driven pulley776includes a fourth horizontal driving pulley785, a fourth direction driven pulley786, and a fourth horizontal pulley belt787.

For connections, first bi-directional screw750is inserted into eighth screwed hole742and sixth screwed hole732. Second bi-directional screw760is inserted into seventh screwed hole741and fifth screwed hole731. Third bi-directional screw770is inserted into fourth screwed hole722and second screwed hole712. Third bi-directional screw770is inserted into fourth screwed hole721and first screwed hole711. In operation, in clamping cycle, as first vertical arm motor755is turned on, first vertical arm driving pulley758and first direction arm pulley belt759impart rotation to second vertical arm driven pulley765; in turn, also imparting rotation to driven pulley766. Both rotations cause first bi-directional screw750and second bi-directional screw760to move in. At the same time, as horizontal arm rotor778is turned on, third horizontal arm driving pulley775and third horizontal arm driven pulley776impart rotation to fourth horizontal driving pulley785; in turn, also imparting rotation to fourth horizontal driven pulley786. Both rotations cause third bi-directional screw770and fourth bi-directional screw780to move in. In releasing cycle, first direction motor755and horizontal arm rotor778rotate in reverse direction. First vertical arm sensor756and horizontal arm sensor779sense the positions and velocities of first to fourth bi-directional screws750-780.

Four-direction square clamp700of the present invention achieve the following objects:(1) Firmly holding from all directions so that workpiece321does not slid out of clamping; and(2) The clamping forces are evenly distributed at the center of gravity so that workpiece321does not move when head tool unity500operate thereon for a long period of time with a large force.

Referring now toFIG.8, a 3D diagram of the internal structure of workpiece rotation assembly800of first and second rotatable clamps600A-600B in accordance with an embodiment of the present invention is illustrated. Workpiece rotation assembly800includes a Y-axis rotation frame801. In many embodiments, Y-axis rotation frame801is an inverted U-shaped having a first knob802, a second knob803, a third knob804, and a fourth knob805arranged around the two branches of Y-axis rotation frame801. A Y-axis rotation clamp driving gear806and a Y-axis rotation ball nut housing807are connected to Y-axis clamp rotor611and Y-axis clamp sensor612. A workpiece rotation bracket811is coupled to Y-axis rotation clamp driving gear806and fits snugly into knobs802-805. A workpiece rotation bracket811having a circumferential lip812is bolted to Y-axis rotation clamp driving gear806. In operation, as Y-axis clamp rotor611is turned on, Y-axis rotation clamp driving gear806causes workpiece rotation gear810to turns either clockwise or counter-clockwise, which causes workpiece321to rotate 360° around the Y-axis, exposing all sides to head tool unit500to machine thereon.

Referring toFIG.9, is a 3D diagram900demonstrating how different parts of the CNC machining apparatus of the present invention are assembled together in accordance with an exemplary embodiment of the present invention is illustrated. After four-direction square clamp assembly700and workpiece rotation assembly800are assembled as discussed inFIG.7andFIG.8, a rotation and clamp coupler910having a first rotation pulley ball nut housing911, a second rotation pulley ball nut housing912, and a third rotation pulley ball nut housing913which connect four-direction square clamp assembly700and workpiece rotation assembly800. Coupler is a square ring having holes around its surface. First rotation pulley ball nut housing911is connected to horizontal arm rotor778. Second rotation pulley ball nut housing912is connected to rotor755. Third rotation pulley ball nut housing913to fourth horizontal driven pulley786.

First and second rotatable clamps600A and600B of the present invention achieve the following objects:Rotation around Y-axis;Moving linearly back and four along the Y-axis;Clamping to hold workpiece321in all directions with clamping forces distributed evenly at the center of gravity; andIndependently controlled by CNC controller box350: first rotatable clamp600A and second rotatable clamp600B are operated totally independent to each other.

FIG.3toFIG.9above disclose the mechanical components, connections, electrical motors, rotors, and sensors show that CNC machining apparatus300achieves omni-directional movements including:(a) Y-axis and Z-axis 360° rotations combined with X-axis and Y-axis linear translational movements of tool head unit500;(b) Y-axis translational movements and 360° rotation around the Y-axis of four direction square clamps600A-600B; and(c) four direction square clamps600A-600B can firmly hold workpiece321with clamping forces distributed evenly at the center of gravity thereof; and(d) four direction square clamps600A-600B are positioned opposite to each other and independently operated by CNC controller box350.

NowFIG.10-FIG.11disclose the electrical hardware and software that numerically control the operations of CNC machining apparatus300.

Now referring toFIG.10, a schematic diagram of a CNC system1000which includes CNC machining apparatus300electrically coupled to CNC controller box350in accordance with an exemplary embodiment of the present invention is illustrated. CNC system1000includes CNC controller box350electrically coupled to numerically control CNC machining apparatus300. CNC controller box350includes, but not limited to, input/output devices351, memory352, a central processing unit (CPU)353, a control loop unit354, a display unit355, and a power supply unit356, all electrically coupled to one another via electrical connections1001,1002,1103,1004, and1005. More particularly, control loop unit354is connected to a driving system1111via driving signal connections1001, CNC machining apparatus300via electrical connections1002, and to feedback system1112via position electrical connections1003, linear velocity electrical connections1004, and angular velocity connections1005.

In various embodiments of the present invention, CNC controller box350is a printed circuit board (PCB) with electrical connections359are conducting wires such as copper, aluminum, gold, etc. In operation, input/output devices351receive design specifications from clients' communication devices such as smartphones, desktop computers, laptop computers, personal digital assistance (PDA) via a network. The network may be wireless such as Bluetooth, 4G, LTE, 5G, Wi-Fi, Zigbee, Z-wave, radio frequency (RF), Near Field Communication (NFC), Ethernet, LoRaWAN. The network can be wired such as RS-232, RS-485, or USB. Next, the design specification is transferred to CPU353for translation into software command codes that can numerically control CNC machining apparatus300. The design specification can be generated from CAD (computer aided design) and/or CAM (computer aided machining). The software commands can be G-programming, M programming, automatically programming tool (APT), assembly language, C, C++, or any CNC programming language. The design specification and the software commands are stored in memory352. In addition, CPU353sends the software commands and/or the design specification to be displayed at display unit355. In some embodiments, display unit355also displays the current status of any on-going machine work so that workers or operators can view the present machining process. In some other embodiments, input/output devices351can send the current machining work to the display units of the communication devices of the end-users.

Continuing withFIG.10, CPU353controls a control loop unit354to control the entire operation loops of CNC machining apparatus300. A driving system1111and CNC machining apparatus300as described inFIG.3-FIG.9above are electrically connected to be controlled by control loop unit354. In various embodiments, a feedback system1112which is constituted of sensors417,427,505,525,612,756, and779, and electrical connections position electrical connections1003, linear velocity electrical connections1004, and angular velocity connections1005. Electrical connections1003-1005can be wired such as RS-232, RS-485 and wireless such as Bluetooth, 4G, LTE, 5G, Wi-Fi, Zigbee, Z-wave, radio frequency (RF), Near Field Communication (NFC), Ethernet, LoRaWAN.

Finally, referring toFIG.11, a flow chart for a method1100of CNC machining a workpiece in accordance with an exemplary embodiment of the present invention is illustrated. Method1100is used in CNC machining apparatus300as described above inFIG.3-FIG.10.

At step1101, a design specification is received. Within the meaning of the present disclosure, the design specification is defined as detailed machining operations on a workpiece to create uniform final products such as table legs having a particular design and cut at a particular length. The design specification is described by a CAD, CAM program with exact dimensions. Step1101is realized by CNC controller box350with the aid of input/output devices351.

At step1102, the design specification is translated into a software program understood and operable on a CNC machining apparatus. In various embodiments, the software program includes M-codes, G-codes, and automatically programming tool (APT), or any CNC programming language. Step1102is realized by CPU353in CNC controller box350.

At step1103, rotatable clamps are numerically clamped, released, and rotated a workpiece in accordance with the pattern described in the design specification. Step1103is realized by rotatable clamps600A-600B, CPU353, control loop unit354, feedback system1112which further includes sensors417,427,505,525,612,756, and779, and electrical connections position electrical connections1003, linear velocity electrical connections1004, and angular velocity connections1005.

At step1104, rotatable clamps are numerically moved so as a workpiece is linearly traversed along the Y-axis. Step1104is realized by rotatable clamps600A-600B, CPU353, and control loop unit354, feedback system1112which further includes sensors417,427,505,525,612,756, and779, and electrical connections position electrical connections1003, linear velocity electrical connections1004, and angular velocity connections1005.

At step1105, a tool head assembly is moved in omni-directional and the required tool head is selected. Step1105is realized by clamps600A-600B, CPU353, and control loop unit354, feedback system1112which further includes sensors417,427,505,525,612,756, and779, and position electrical connections1003, linear velocity electrical connections1004, and angular velocity connections1005.

Method1100and CNC machining apparatus300of the present invention achieve the following objectives:(a) Y-axis and Z-axis 360° rotations combined with X-axis and Y-axis linear translational movements of tool head unit500;(b) Y-axis translational movements and 360° rotation around the Y-axis of four direction square clamps600A-600B; and(c) four direction square clamps600A-600B can firmly hold workpiece321with clamping forces distributed evenly at the center of gravity thereof;(d) First and second rotatable clamps600A-600B are positioned opposite to each other and independently operated by CNC controller box350;(e) network connection between CNC machining apparatus300and end-users' communication devices;(f) fully automated; and(g) simple in design and highly precise since all sides, any locations, any length, any material of workpiece can be machined.

The foregoing description details certain embodiments of the invention. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the invention can be practiced in many ways. As is also stated above, it should be noted that the use of particular terminology when describing certain features or aspects of the invention should not be taken to imply that the terminology is being re-defined herein to be restricted to including any specific characteristics of the features or aspects of the invention with which that terminology is associated. The scope of the invention should therefore be construed in accordance with the appended claims and any equivalents thereof.

Within the scope of the present description, the reference to “an embodiment” or “the embodiment” or “some embodiments” means that a particular feature, structure or element described with reference to an embodiment is comprised in at least one embodiment of the described object. The sentences “in an embodiment” or “in the embodiment” or “in some embodiments” in the description do not therefore necessarily refer to the same embodiment or embodiments. The particular feature, structures or elements can be furthermore combined in any adequate way in one or more embodiments.

Within the scope of the present description, the word “omni-directional” means all directions of a spherical coordinate covering the same space of XYZ Cartesian coordinate399. The X-axis and Z-axis translational (or linear) movements, the rotational Y-axis and Z-axis of the head tool assembly; the Y-axis translational movements, and the rotation 360° around the Y-axis enable CNC machining apparatus300to approach from any angle and operate precisely at any location regardless of the proximity of these points on workpiece321.

Within the scope of the present description, the words “connected”, “connecting”, “coupled”, “coupling”, “connections”, “coupled”, “bolted”, “laid”, “positioned”, “attached”, “attaching”, “affixed”, “affixing” are used to mean attaching between two described members using screws, nails, tongs, prongs, clips, spikes, staples, pins, male and female nuts, buttons, sleeves, lugs, cams, handles, bars, fasteners, connectors, or the likes.

Within the scope of the present description, the words “connected”, “connecting”, “coupled”, “coupling”, “connections”, “coupled” are used to mean wired and/or wireless connections. Wired connections include electrically conducting wires, cables, lines, coaxial cables, strips, or the likes. Conducting wires are made of conductors such as coppers, aluminum, gold, or the likes. Wireless connections include electromagnetic waves, short range communication channels include ZigBee™/IEEE 802.15.4, Bluetooth™, Z-wave, NFC, Wi-fi/802.11, cellular (e.g., GSM, GPRS, WCDMA, HSPA, and LTE, 5G, etc.), IEEE 802.15.4, IEEE 802.22, ISA100a, wireless USB, and Infrared (IR), LoRa devices, etc. Medium range wireless communication channels in this embodiment of communication link161include Wi-fi and Hotspot. Long range wireless communication channels include UHF/VHF radio frequencies.

Within the scope of the present description, the word “network” includes data center, cloud network, or network such as nano network, body area network (BAN), personal area network (PAN), local area network (LAN), campus/corporate area network (CAN), metropolitan area network (MAN), wide area network (WAN), and mesh area networks, or any combinations thereof.

Within the scope of the present description, the word “rotation”, “rotating”, “rotate” includes clockwise and/or counterclockwise direction.

Within the scope of the present invention, the Cartesian XYZ coordinate (x, y, z) also includes equivalent spherical coordinate (r, ⊖, Φ), and/or cylindrical coordinate (r, ⊖, Φ) that can determine the direction of movement or coordinate of a point of any members of CNC machining apparatus.

DESCRIPTION OF NUMERALS

300Computer Numerical Control (CNC) machining apparatus301first base301P proximate end (of the first base)301D distal end (of the first base)301T top surface (of the first base)302second base (perpendicular to the first base)303workpiece rail support base304first workpiece rail305second workpiece rail306first lateral track307second lateral track310X-axis tool head support311first X-axis tool head rail312second X-axis tool head rail321workpiece350CNC controller box351Input/output devices352memory353central processing unit (CPU)354control loop unit355display unit356power supply unit359controller box internal electrical connections399XYZ Cartesian coordinate400tool head support assembly400A X-axis tool head moving assembly400B Z-axis tool head moving assembly401X-axis sliding board402first X-axis slider403second X-axis slider404third X-axis slider405fourth X-axis slider410X-axis moving end410A X-axis lock screw (stopper)410B X-axis moving side ball nut housing411X-axis fixed end411A fixed side ball nut housing411B fixed side support unit411C second fixed side support unit411D X-axis lock screw (stopper)412X-axis ball screw413X-axis rotor414X-axis driving pulley415X-axis driven pulley416X-axis pulley belt417X-axis sensor420Z-axis rail support board421first X-axis triangular support bracket422second X-axis triangular support bracket423Z-axis rotor support board424Z-axis rotor425Z-axis driving gear426Z-axis driven gear426A Z-axis ball screw426B Z-axis flanged nut426C Z-axis bracket426D Z-axis second shaft coupler426E Z-axis first shaft coupler426F Z-axis ball nut housing426G Z-axis end-bearing support427Z-axis sensor428first Z-axis rail429second Z-axis rail431Z-axis sliding board432first Z-axis slider433second Z-axis slider434third Z-axis slider435fourth Z-axis slider436first Z-axis triangular support bracket437second Z-axis triangular support bracket438first horizontal tool head support board500tool head unit501Z-axis tool head rotor502Z-axis driving gear503Z-axis driven gear504Z-axis end bearing support505Z-axis rotation sensor510second horizontal tool head support board511third Z-axis triangular support bracket512fourth Z-axis triangular support bracket513fifth Z-axis triangular support bracket514sixth Z-axis triangular support bracket520tool head main support board521Y-axis tool head rotor522Y-axis tool head rotation driving gear523Y-axis tool head rotation driven gear524Y-axis tool head rotation ball nut housing525Y-axis tool head rotation sensor530tool head unit531tool head base532cutting tool (saw)533sanding tool (sander)534drilling tool535chuck chisel tool600A first rotatable clamp601transport housing602A first Y-axis clamp slider602B second Y-axis clamp slider603first Y-axis clamp auxiliary driven wheel603A first auxiliary end stopper604second Y-axis clamp auxiliary driven wheel604A second auxiliary end stopper605first Y-axis clamp pulley belt606second Y-axis clamp pulley belt607third Y-axis clamp auxiliary driven wheel608fourth Y-axis clamp auxiliary driven wheel609first Y-axis clamp ball nut housing610second Y-axis clamp ball nut housing611Y-axis clamp rotor612Y-axis clamp sensor613third auxiliary end stopper614fourth auxiliary end stopper615principal Y-axis clamp axle616first principle ball nut housing617second principal ball nut housing618first Y-axis sliding gear619second Y-axis sliding gear620Y-axis main driving gear621Y-axis main driven gear700four-direction square clamp assembly710first vertical arm711first screwed hole712second screwed hole713first insertion opening714first coupling tooth715second coupling tooth720second vertical arm721third screwed hole722fourth screwed hole723second insertion opening724third coupling tooth725fourth coupling tooth730first horizontal arm731fifth screwed hole732sixth screwed hole733third coupling opening734fifth coupling tooth735sixth coupling tooth740second horizontal arm741seventh screwed hole742eighth screwed hole743fourth coupling opening744seventh coupling tooth745eighth coupling tooth750first bi-directional screw751first bi-directional screw holder752first direction screw thread753first thread divider754second direction screw thread755first vertical arm motor756first vertical arm sensor757first vertical arm driving pulley758first vertical arm driven pulley759first direction arm pulley belt760second bi-directional screw761second bi-directional screw holder762third direction screw thread763second thread divider764fourth direction screw thread765second vertical arm driven pulley766second vertical arm driven pulley767second vertical arm pulley belt770third bi-directional screw771third bi-directional screw holder772fifth direction screw thread773third thread divider774sixth direction screw thread775third horizontal arm driving pulley776third horizontal arm driven pulley777third horizontal arm pulley belt778horizontal arm rotor779horizontal arm sensor780fourth bi-directional screw781fourth bi-directional screw holder782seventh direction screw thread783fourth thread divider784eighth direction screw thread785fourth horizontal driving pulley786fourth horizontal driven pulley787fourth horizontal pulley belt800workpiece rotation assembly801Y-axis rotation frame802first knob803second knob804third knob805fourth knob806Y-axis rotation clamp driving gear807Y-axis rotation ball nut housing810workpiece rotation gear811workpiece rotation bracket900rotatable clamp components and instructions910rotation and clamp bracket911first rotation pulley ball nut housing912second rotation pulley ball nut housing913third rotation pulley ball nut housing1000schematic diagram of the CNC controller box1001driving electrical signal connections1002electrical connections to CNC machining apparatus1003position information electrical connections1004velocity information electrical connections1005angular velocity information electrical connections