Asymmetrical five-degree-of-freedom parallel serial robot

Abstract

The invention discloses an asymmetrical five-degree-of-freedom parallel serial robot which comprises a fixing frame, a movable platform, a round guide rail, a locating head, a first branch chain, a second branch chain and a third branch chain. The first branch chain, the second branch chain and the third branch chain can move flexibly in the axial direction. The first branch chain, the second branch chain and the third branch chain have at least two rotating freedom degrees respectively so that branch chains can rotate in all directions relative to the fixing frame. The movable platform is connected with the lower end of the first branch chain in a rigid mode so that when the movable platform carries out spatial displacement, spatial gestures of a mechanism can change at the same time. The locating head installed below the movable platform has two rotating freedom degrees, so that the gestures of the tail end can be adjusted at any time in the moving process, and the asymmetrical five-degree-of-freedom parallel serial robot can be formed. The asymmetrical five-degree-of-freedom parallel serial robot is simple in structure, low in cost, and high in rigidity and accuracy.

Description

technical field [0001] The invention relates to a robot, in particular to an asymmetric five-degree-of-freedom hybrid robot. Background technique [0002] According to the existing patent documents CN102120205A and CN102133560A, there is a type of hybrid robot with a positioning head, including a three-degree-of-freedom parallel mechanism, a pair of horizontal parallel linear mechanisms and a pair of longitudinal parallel linear mechanisms. This type of robot has a working space and a mechanism The disadvantages of small volume ratio, low rigidity and low precision. [0003] According to the existing patent documents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), CN1524662, CN1709657A and CN1439492A, it is known that there is a type of spatial hybrid robot structure with a positioning head, including several axially elongated or shortened One end of the adjustment device is connected to the fixed frame through a Hooke hinge, and the other end of the adjustme...

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Problems solved by technology

[0002] According to the existing patent documents CN102120205A and CN102133560A, there is a type of hybrid robot with a positioning head, including a three-degree-of-freedom parallel mechanism, a pair of horizontal parallel linear mechanisms and a pair of longitudinal parallel linear mechanisms. This type of robot has a working space and a mechanism Disadvantages of small volume ratio, low stiffness and low precision

[0003] According to the existing patent documents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), CN1524662, CN1709657A and CN1439492A, it is known that there is a type of spatial hybrid robot structure with a positioning head, including several axially elongated or shortened 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-degree-of-rotation hinge; some patents also add a passive branch chain and a moving platform. The 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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