Space five-degree-of-freedom hybrid robot

Abstract

The invention discloses a space five-degree-of-freedom hybrid robot. The space five-degree-of-freedom hybrid robot comprises a fixed frame, a movable platform, a circular guide rail, a positioning head, a first branch hinge, a second branch hinge and a third branch hinge. The first branch hinge, the second branch hinge and the third branch hinge can carry out telescopic movement in the axial direction, a hook joint of the first branch hinge, a hook joint of the second branch hinge and a hook joint of the third branch hinge have two rotational degrees of freedom, and therefore the branch hinges can rotate around two hinge axes relative to the fixed frame. The movable platform is in rigid connection with the lower end of the first branch hinge, and therefore the spatial attitude of a mechanism can be changed at the same time when spatial displacement of the movable platform happens. The positioning head arranged below the movable platform has two rotational degrees of freedom, the attitude of the tail end of the positioning head can be adjusted at any time in the process of moving, and therefore the space five-degree-of-freedom hybrid robot is formed. The space five-degree-of-freedom hybrid robot is simple in structure, low in cost, high in rigidity and high in precision.

Description

technical field [0001] The invention relates to a robot, in particular to a hybrid robot with five degrees of freedom in space. Background technique [0002] According to the existing patent documents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), CN1524662, CN1709657A, CN1439492A, it is known that there is a type of space hybrid robot structure with a positioning head, including several axially elongated or A shortened adjustment device; one end of the adjustment device is connected to the fixed frame through a Hooke hinge, and the other end of the adjustment device is connected to the moving platform through a three-rotation freedom hinge; some patents also add passive branch chains and The moving platform is rigidly connected, and connected with the fixed frame through the Hooke hinge to limit certain degrees of freedom of the positioning head. In the structure of this type of robot, there are the following shortcomings: the hinge connected to the end of ...

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Problems solved by technology

[0002] According to the existing patent documents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), CN1524662, CN1709657A, CN1439492A, it is known that there is a type of space hybrid robot structure with a positioning head, including several axially elongated or A shortened adjustment device; one end of the adjustment device is connected to the fixed frame through a Hooke hinge, and the other end of the adjustment device is connected to the moving platform through a three-rotation freedom hinge; some patents also add passive branch chains and The moving platform is rigidly connected, and connected to the fixed frame through the Hooke hinge to limit certain degrees of freedom of the positioning head

In the structure of this type of robot, there are the following shortcomings: the hinge connected to the end of the adjustment device is a three-degree-of-freedom hinge, resulting in low overall stiffness and poor load capacity of the mechanism; passive branch chains not only make the mechanism complicated, Moreover, the large number of moving components makes it easy to interfere during the movement, reducing the working space

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