Series-parallel six-degree-of-freedom robot arm

Abstract

The application discloses a mixed-parallel type six-freedom-degree mechanical arm and belongs to the field of driving structures. The four-freedom-degree serial mechanism comprises a mounting seat, two connecting rods and a connecting block. The mounting seat is rotationally installed at the end of an extension arm. The two ends of each connecting rod are rotationally connected with the mounting seat and the connecting block, respectively. The mounting seat, the two connecting rods and the connecting block form a parallelogram mechanism. The two-freedom-degree parallel structure is installed on the connecting block. A placing plate is installed on the two-freedom-degree parallel structure. Through the above design, a patient is located on the placing plate. The parallelogram mechanism is used for lifting the patient, so that the patient is always vertically lifted and occupies a smaller space. The two-freedom-degree parallel mechanism is adopted at the end of the extension arm. Compared with the serial mechanism, the parallel mechanism has stronger bearing capacity and greater rigidity, small cumulative error, simple inverse kinematics solution and is easier to control. When the software and the electrical system are out of control, the pitching angle and the rolling angle can be limited within a certain range, so that the mechanical arm is more reliable.

Description

Technical Field

[0001] This invention relates to the field of drive structures, and in particular to a hybrid six-degree-of-freedom robotic arm. Background Technology

[0002] Proton therapy is a type of radiotherapy that is more targeted than conventional radiotherapy. In proton therapy, a high-energy proton beam generated by a medical proton accelerator enters the body, with most of the energy deposited at the end of its range, forming a sharp peak-shaped dose distribution known as the Bragg peak. By adjusting the proton beam energy, the scanning position, depth, and intensity of the proton beam can be precisely controlled, ensuring that the Bragg peak accurately covers the tumor target area at a designated location and releases the majority of the energy into the cancerous region. Due to its strong penetrating power, high local dose, and good dose distribution, proton therapy has shown good efficacy in treating benign and malignant brain tumors, spinal cord tumors, head and neck tumors, and thoracic and abdominal tumors.

[0003] To ensure the proton beam remains focused on the target area throughout treatment, a device is needed to move the patient's body, thereby altering the spatial position and posture of the torso. Currently, a six-degree-of-freedom tandem robotic arm exists on the market that can achieve this function. However, tandem robotic arms have several drawbacks, such as weak stiffness, poor stability, and large cumulative errors. Furthermore, the joints of this type of robotic arm have a large range of motion, controlled by software and electricity; if this is lost, the robotic arm will vibrate violently, posing a significant safety hazard. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, one of the objectives of the present invention is to provide a hybrid six-degree-of-freedom robotic arm that can move the patient's body and whose roll and pitch angles at the end of the robotic arm can be controlled within a safe range even if the software and electrical systems fail.

[0005] One of the objectives of this invention is achieved through the following technical solution:

[0006] A hybrid six-degree-of-freedom robotic arm includes a base, an extension arm rotatably mounted on the base, and a mounting plate. The hybrid six-degree-of-freedom robotic arm also includes a four-degree-of-freedom serial mechanism and a two-degree-of-freedom parallel structure. The four-degree-of-freedom serial mechanism includes a mounting base, two connecting rods, and a connecting block. The mounting base is rotatably mounted on the end of the extension arm. Each connecting rod is rotatably connected at both ends to the mounting base and the connecting block, respectively. The mounting base, the two connecting rods, and the connecting block form a parallelogram mechanism. The two-degree-of-freedom parallel structure is mounted on the connecting block, and the mounting plate is mounted on the two-degree-of-freedom parallel structure.

[0007] Furthermore, the two-degree-of-freedom parallel structure includes a base, a moving platform, and two drive components. The base is rotatably mounted on the connecting block, the moving platform is fixedly connected to the mounting plate, and the moving platform is rotatably connected to the base. The two drive components are respectively mounted on the base and rotatably connected to the moving platform, and the two drive components respectively apply a separate driving force to the moving platform.

[0008] Furthermore, both drive components are located between the base and the moving platform, and the two drive components are symmetrically arranged about the moving platform.

[0009] Furthermore, the two-degree-of-freedom parallel structure also includes three rotating components, each of which is a universal joint. Each drive component is rotatably connected to the moving platform via a universal joint, and the base is rotatably connected to the moving platform via a universal joint.

[0010] Furthermore, the base includes a seat body, two side plates extending from the seat body, and a fixing rod fixedly installed between the two side plates. The moving platform includes a main body, two side portions extending from the main body, and a connecting portion fixed to the two side portions. The fixing rod is rotatably connected to the connecting portion.

[0011] Furthermore, the drive assembly includes a drive component, a first crank, a ball joint, and a first ball rod. The drive component is mounted on the base and located between the two side plates. The first crank is rotatably mounted on the side plate. The drive component is a motor and a reducer connected to the motor. The first crank is connected to the output end of the reducer. The end of the first crank is connected to one end of the first ball rod through the ball joint. The other end of the first ball rod is rotatably connected to the moving platform.

[0012] Furthermore, the base and the moving platform are arranged intersectingly, and the fixing rod is perpendicular to the connecting part.

[0013] Furthermore, the base includes a base body and a column, the column is fixed to the base body and perpendicular to the base body, the end of the column away from the base body is rotatably connected to the moving platform, and the two drive components are arranged in a triangle with the column.

[0014] Furthermore, the drive assembly includes a drive element and a ball joint. The drive element is a linear actuator. The drive element is rotatably connected to the base body through the ball joint. The output end of the drive element is rotatably connected to the moving platform.

[0015] Furthermore, the drive assembly includes a drive component, a ball joint, a second ball club, a second crank, a rod body, and a guide rod. The second ball club is rotatably mounted on the base via the ball joint. The drive component is mounted on the second ball club. The drive component is a motor and a reducer connected to the motor. The second crank is connected to the output end of the reducer. Both ends of the rod body are rotatably connected to the second crank and the guide rod, respectively. The guide rod is slidably mounted on the second ball club, and the end of the guide rod is rotatably connected to the moving platform.

[0016] Furthermore, the two-degree-of-freedom parallel structure includes a base, a moving platform, and two drive components. The base is fixedly installed on the connecting block, the moving platform is rotatably connected to the mounting plate, and the moving platform is rotatably connected to the base. The two drive components are respectively installed on the base and rotatably connected to the moving platform, and the two drive components respectively apply a separate driving force to the moving platform.

[0017] Compared to existing technologies, the hybrid six-degree-of-freedom robotic arm of this invention includes a four-degree-of-freedom serial mechanism and a two-degree-of-freedom parallel structure. The four-degree-of-freedom serial mechanism includes a mounting base, two connecting rods, and a connecting block. The mounting base is rotatably mounted on the end of the extension arm. Each connecting rod is rotatably connected to both ends of the mounting base and the connecting block, forming a parallelogram mechanism. The two-degree-of-freedom parallel structure is mounted on the connecting block, and a placement plate is mounted on the two-degree-of-freedom parallel structure. Through this design, the patient is positioned on the placement plate, and the parallelogram mechanism is used for patient lifting and lowering. Due to the characteristics of the parallelogram mechanism, it ensures that the patient is always lifted and lowered vertically. Compared to the commonly used screw lifting mechanism, it occupies less space. The two-degree-of-freedom serial mechanism at the end of the robotic arm is replaced by a two-degree-of-freedom parallel mechanism. Compared to serial mechanisms, parallel mechanisms have stronger load-bearing capacity and greater rigidity, smaller cumulative errors, simpler inverse kinematics solutions, and are easier to control. Existing serial robotic arms rely solely on software and electrical systems to limit the pitch and roll angles at the end of the arm. If loss of control occurs, there is a significant safety hazard. The two-degree-of-freedom parallel structure of this application can limit the pitch and roll angles within a certain range. Therefore, the hybrid robotic arm is more reliable than the serial robotic arm. Attached Figure Description

[0018] Figure 1 This is a perspective view of the first embodiment of the hybrid six-degree-of-freedom robotic arm of the present invention;

[0019] Figure 2 for Figure 1 A three-dimensional diagram of a two-degree-of-freedom parallel structure of a hybrid six-degree-of-freedom robotic arm;

[0020] Figure 3 for Figure 2Another three-dimensional diagram of a two-degree-of-freedom parallel structure;

[0021] Figure 4 This is a perspective view of the second embodiment of the hybrid six-degree-of-freedom robotic arm of the present invention;

[0022] Figure 5 for Figure 4 A three-dimensional diagram of a two-degree-of-freedom parallel structure of a hybrid six-degree-of-freedom robotic arm;

[0023] Figure 6 for Figure 5 Another three-dimensional diagram of a two-degree-of-freedom parallel structure;

[0024] Figure 7 This is a perspective view of the third embodiment of the hybrid six-degree-of-freedom robotic arm of the present invention;

[0025] Figure 8 for Figure 7 A three-dimensional diagram of a two-degree-of-freedom parallel structure of a hybrid six-degree-of-freedom robotic arm;

[0026] Figure 9 for Figure 8 Another three-dimensional diagram of a two-degree-of-freedom parallel structure;

[0027] Figure 10 This is a perspective view of the fourth embodiment of the hybrid six-degree-of-freedom robotic arm of the present invention;

[0028] Figure 11 for Figure 10 Another three-dimensional diagram of a two-degree-of-freedom parallel structure.

[0029] In the diagram: 10, base; 20, extension arm; 30, four-degree-of-freedom serial mechanism; 31, mounting base; 32, connecting rod; 33, connecting block; 40, mounting plate; 50, two-degree-of-freedom parallel structure; 51, base; 510, seat body; 511, side plate; 512, fixed rod; 513, column; 52, moving platform; 520, main body; 521, side; 522, connecting part; 53, drive assembly; 530, drive component; 531, first crank; 532, ball joint; 533, first cue; 534, second cue; 535, second crank; 536, rod body; 537, guide rod; 54, rotating component; 55, rotation drive component; 56, turntable. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] First Embodiment

[0034] like Figures 1 to 3 As shown, the hybrid six-degree-of-freedom robotic arm of the present invention includes a base 10, an extension arm 20, a four-degree-of-freedom serial mechanism 30, a mounting plate 40, and a two-degree-of-freedom parallel structure 50.

[0035] The base 10 is fixed to the ground, and one end of the extension arm 20 is rotatably mounted on the base 10. Through the motor and reducer, the extension arm 20 can be controlled to rotate relative to the base 10 around the Z-axis, so that the other end of the extension arm 20 can move in the XY plane.

[0036] The four-degree-of-freedom series mechanism 30 includes a mounting base 31, two connecting rods 32, and a connecting block 33. The mounting base 31 is rotatably mounted on the other end of the extension arm 20. Through a motor and a reducer, the mounting base 31 can be controlled to rotate relative to the extension arm 20 around the Z-axis, so that the mounting plate 40 can move in the XY plane.

[0037] Two connecting rods 32 are rotatably mounted on the mounting base 31, and the two connecting rods 32 are parallel to each other. One end of each connecting rod 32 is rotatably connected to the mounting base 31, and the other end is rotatably connected to the connecting block 33. The mounting base 31, the two connecting rods 32, and the connecting block 33 form a parallelogram structure. One connecting rod 32 is connected to the motor and reducer for transmission. The motor and reducer control the connecting rod 32 to rotate relative to the mounting base 31 around the Y-axis. Due to the characteristics of the parallelogram structure, the connecting block 33, the two-degree-of-freedom parallel structure 50, and the placement plate 40 can be vertically raised and lowered to adjust the height position of the patient on the placement plate 40. Furthermore, the parallelogram structure formed by the mounting base 31, the two connecting rods 32, and the connecting block 33 occupies less space compared to the screw lifting mechanism used in the market. Specifically, the connecting block 33 is L-shaped, with one end being the mounting end and the other end being the fixed end. The mounting end is used to rotatably mount the two connecting rods 32, and the fixed end is used to fix the two-degree-of-freedom parallel structure 50.

[0038] The two-degree-of-freedom parallel structure 50 includes a base 51, a moving platform 52, two drive assemblies 53, two rotating parts 54, and a housing. The base 51, moving platform 52, two drive assemblies 53, and two rotating parts 54 are mounted in the housing.

[0039] The base 51 includes a base body 510 and side plates 511 extending from both sides of the base body 510. A fixing rod 512 is fixed at both ends to the top of the side plates 511. The side plates 511 are parallel to each other, and the fixing rod 512 is parallel to the base body 510. The base body 510 is rotatably mounted on the fixed end of the connecting block 33. The base body 510 is driven by a motor to rotate relative to the fixed end of the connecting block 33.

[0040] The structure of the movable platform 52 is the same as that of the base 51. The movable platform 52 includes a main body 520, side portions 521 extending from both sides of the main body 520, and a connecting portion 522. The two ends of the connecting portion 522 are respectively fixed to the two side portions 521. The two side portions 521 are parallel to each other, and the connecting portion 522 is parallel to the main body 520. The movable platform 52 and the base 51 are arranged intersectingly, and the fixing rod 512 is rotatably connected to the connecting portion 522.

[0041] Two drive components 53 are symmetrically arranged. Each drive component 53 includes a drive element 530, a first crank 531, a ball joint 532, and a first ball joint 533. The drive element 530 is mounted on the base 510 and located between the two side plates 511. Specifically, the drive element 530 includes a motor and a reducer. The first crank 531 is drivenly connected to the output end of the reducer. The other end of the first crank 531 is connected to the first ball joint 533 through the ball joint 532. The first ball joint 533 is rotatably connected to the base 510 through a rotating element 54, specifically, the rotating element 54 is a universal joint.

[0042] The placement plate 40 is fixed to the moving platform 52. The placement plate 40 is used to place the patient; in this embodiment, the placement plate 40 is a bed. The two drive components 53 independently drive and control the rotation angle of the two first cranks 531, which allows the moving platform 52 to rotate around the X-axis and Y-axis, thereby realizing the adjustment of the patient's pitch and roll angles.

[0043] When using a hybrid six-degree-of-freedom robotic arm, the patient is placed on the placement plate 40. Through a motor and reducer, the extension arm 20 can be controlled to rotate relative to the base 10 around the Z-axis, and the mounting base 31 can rotate relative to the extension arm 20 around the Z-axis, allowing the patient to move within the XY plane. The motor and reducer control the linkage 32 to rotate relative to the mounting base 31 around the Y-axis. Due to the characteristics of the parallelogram structure, the connecting block 33, the two-degree-of-freedom parallel structure 50, and the placement plate 40 can be vertically raised and lowered, adjusting the patient's height on the placement plate 40. Compared to the commonly used screw lifting mechanism, this design occupies less space. Through the motor and reducer, the two-degree-of-freedom parallel structure 50 can rotate relative to the connecting block 33. The two-degree-of-freedom series mechanism is abandoned at the end of the robotic arm, and a two-degree-of-freedom parallel mechanism 50 is used instead. Compared to the series mechanism, the parallel mechanism has stronger load-bearing capacity and greater rigidity, smaller cumulative error, simpler inverse kinematics solution, and is easier to control. In particular, serial robotic arms rely solely on software and electrical systems to limit the pitch and roll angles at the end effector. If this leads to loss of control, it poses a significant safety hazard. In contrast, the two-degree-of-freedom parallel mechanism 50 at the end effector can limit the pitch and roll angles within a certain range. Therefore, hybrid robotic arms are more reliable than serial robotic arms.

[0044] Please continue reading. Figure 4 as well as Figure 6 This is the second embodiment of the present application. In the second embodiment, the structure of the hybrid six-degree-of-freedom robotic arm is roughly the same as that in the first embodiment, except that the two-degree-of-freedom parallel structure 50 includes a base 51, a moving platform 52, two drive components 53, three rotating components 54, and a housing. The base 51, the moving platform 52, the two drive components 53, and the three rotating components 54 are installed in the housing.

[0045] The base 51 includes a base body 510 and a column 513. One end of the column 513 is fixed to the base body 510, and the other end is rotatably connected to the moving platform 52 through a rotating member 54. The column 513 is perpendicular to the base body 510.

[0046] Each drive assembly 53 includes a ball joint 532 and a drive element 530, which is a linear actuator. One end of the drive element 530 is rotatably mounted on the base 51 via the ball joint 532, and the other end is rotatably connected to the moving platform 52 via a rotating element 54. In this embodiment, the linear actuator is a push rod. The two drive assemblies 53 are symmetrically arranged about the column 513, and the two drive assemblies 53 and the column 513 are arranged in a triangle.

[0047] When the push rod extends or retracts, it drives the moving platform 52 to rotate around the X and Y axes. Therefore, by changing the extension or retraction length of the push rod, the patient's pitch and roll angles can be controlled.

[0048] Please continue reading. Figure 7 as well as Figure 9 This is the third embodiment of the present application. In the third embodiment, the structure of the hybrid six-degree-of-freedom robotic arm is roughly the same as that in the first embodiment, except that the two-degree-of-freedom parallel structure 50 includes a base 51, a moving platform 52, two drive components 53, three rotating components 54, and a housing. The base 51, moving platform 52, two drive components 53, and three rotating components 54 are installed in the housing.

[0049] The base 51 includes a base body 510 and a column 513. One end of the column 513 is fixed to the base body 510, and the other end is rotatably connected to the moving platform 52 through a rotating member 54. The column 513 is perpendicular to the base body 510.

[0050] Each drive assembly 53 includes a ball joint 532, a drive element 530, a second ball rod 534, a second crank 535, a rod body 536, and a guide rod 537. The second ball rod 534 is rotatably mounted on the base 51 via the ball joint 532. The drive element 530 is mounted on the second ball rod 534 and consists of a motor and a reducer connected to the motor. The second crank 535 is connected to the output end of the reducer. The two ends of the rod body 536 are rotatably connected to the second crank 535 and the guide rod 537, respectively. The guide rod 537 is slidably mounted on the second ball rod 534, and its end is rotatably connected to the moving platform 52.

[0051] The two drive components 53 are symmetrically arranged, and the two drive components 53 and the column 513 are arranged in a triangle. By independently driving and controlling the rotation angle of the two second cranks 535 through two drive motors and reducers, the moving platform 52 can be rotated around the X and Y axes, thereby realizing the adjustment of the patient's pitch and roll angles.

[0052] Please continue reading. Figure 10 as well as Figure 11This is the fourth embodiment of the present application. In this fourth embodiment, the structure of the hybrid six-degree-of-freedom robotic arm is roughly the same as that in the third embodiment, except that: the base 510 is fixed to the connecting block 33, and each drive assembly 53 includes a drive member 530, a first crank 531, and a rod 536. The drive member 530 is mounted on the base 510, the first crank 531 is mounted on the output end of the drive member 530, one end of the rod 536 is rotatably connected to the first crank 531, and the other end is connected to the moving platform 52 through a rotating member 54. The two-degree-of-freedom parallel structure 50 also includes a rotary drive member 55 and a turntable 56. The turntable 56 is rotatably mounted on the moving platform 52, and the rotary drive member 55 drives the turntable 56 to rotate relative to the moving platform 52. The turntable 56 is fixedly connected to the mounting plate 40.

[0053] In this application, the four-degree-of-freedom serial mechanism 30 is designed as a parallelogram to ensure the vertical lifting of the patient. Compared with the commonly used lead screw lifting mechanism, it occupies less space. The two-degree-of-freedom serial mechanism at the end of the robotic arm is replaced by a two-degree-of-freedom parallel mechanism 50. Compared with serial mechanisms, parallel mechanisms have stronger load-bearing capacity and greater rigidity, smaller cumulative errors, simpler inverse kinematics solutions, and are easier to control. In particular, serial robotic arms rely solely on software and electrical control for limiting the pitch and roll angles at the end effector. If loss of control occurs, there is a significant safety hazard. The two-degree-of-freedom parallel mechanism 50 at the end effector can limit the pitch and roll angles within a certain range. Therefore, the hybrid robotic arm is more reliable than the serial robotic arm.

[0054] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A hybrid six-degree-of-freedom robotic arm, comprising a base, an extension arm rotatably mounted on the base, and a mounting plate, characterized in that: The hybrid six-degree-of-freedom robotic arm further includes a four-degree-of-freedom serial mechanism and a two-degree-of-freedom parallel structure. The four-degree-of-freedom serial mechanism includes a mounting base, two connecting rods, and a connecting block. The mounting base is rotatably mounted on the end of the extension arm. Each connecting rod is rotatably connected at both ends to the mounting base and the connecting block, forming a parallelogram mechanism. The two-degree-of-freedom parallel structure is mounted on the connecting block, and a mounting plate is mounted on the two-degree-of-freedom parallel structure. The two-degree-of-freedom parallel structure includes a base, a moving platform, and two drive components. The base is rotatably mounted on the connecting block. The moving platform is fixedly connected to the mounting plate and rotatably connected to the base. The two drive components are respectively mounted on the base and rotatably connected to the moving platform, and each drive component drives the moving platform. A separate driving force is applied; the base includes a seat body, two side plates extending from the seat body, and a fixing rod fixedly installed between the two side plates; the moving platform includes a main body, two side portions extending from the main body, and a connecting portion fixed to the two side portions; the fixing rod is rotatably connected to the connecting portion; the driving assembly includes a driving component, a first crank, a ball joint, and a first ball rod; the driving component is installed on the seat body and located between the two side plates; the first crank is rotatably installed on the side plates; the driving component is a motor and a reducer connected to the motor; the first crank is connected to the output end of the reducer; the end of the first crank is connected to one end of the first ball rod through the ball joint; the other end of the first ball rod is rotatably connected to the moving platform; the base and the moving platform are arranged intersectingly; the fixing rod is perpendicular to the connecting portion.

2. The hybrid six-degree-of-freedom robotic arm according to claim 1, characterized in that: Both drive components are located between the base and the moving platform, and the two drive components are symmetrically arranged about the moving platform.

3. The hybrid six-degree-of-freedom robotic arm according to claim 1, characterized in that: The two-degree-of-freedom parallel structure also includes three rotating components, each of which is a universal joint. Each drive component is rotatably connected to the moving platform via a universal joint, and the base is rotatably connected to the moving platform via a universal joint.

4. A hybrid six-degree-of-freedom robotic arm, comprising a base, an extension arm rotatably mounted on the base, and a mounting plate, characterized in that: The hybrid six-degree-of-freedom robotic arm further includes a four-degree-of-freedom serial mechanism and a two-degree-of-freedom parallel structure. The four-degree-of-freedom serial mechanism includes a mounting base, two connecting rods, and a connecting block. The mounting base is rotatably mounted on the end of the extension arm. Each connecting rod is rotatably connected at both ends to the mounting base and the connecting block, respectively. The mounting base, the two connecting rods, and the connecting block form a parallelogram mechanism. The two-degree-of-freedom parallel structure is mounted on the connecting block, and the mounting plate is mounted on the two-degree-of-freedom parallel structure. The two-degree-of-freedom parallel structure includes a base, a moving platform, and two drive components. The base is rotatably mounted on the connecting block, the moving platform is fixedly connected to the mounting plate, and the moving platform is rotatably connected to the base. The two drive components are respectively mounted on the base and rotatably connected to the moving platform. Next, the two drive components apply separate driving forces to the moving platform; the base includes a seat and a column, the column is fixed to the seat and perpendicular to the seat, the end of the column away from the seat is rotatably connected to the moving platform, and the two drive components are arranged in a triangle with the column; the drive component includes a drive element, a ball joint, a second ball rod, a second crank, a rod body, and a guide rod, the second ball rod is rotatably mounted on the base through the ball joint, the drive element is mounted on the second ball rod, the drive element is a motor and a reducer connected to the motor, the second crank is connected to the output end of the reducer, the two ends of the rod body are rotatably connected to the second crank and the guide rod respectively, the guide rod is slidably mounted on the second ball rod, and the end of the guide rod is rotatably connected to the moving platform.

5. A hybrid six-degree-of-freedom robotic arm, comprising a base, an extension arm rotatably mounted on the base, and a mounting plate, characterized in that: The hybrid six-degree-of-freedom robotic arm also includes a four-degree-of-freedom serial mechanism and a two-degree-of-freedom parallel structure. The four-degree-of-freedom serial mechanism includes a mounting base, two connecting rods, and a connecting block. The mounting base is rotatably mounted on the end of the extension arm. The two ends of each connecting rod are rotatably connected to the mounting base and the connecting block, respectively. The mounting base, the two connecting rods, and the connecting block form a parallelogram mechanism. The two-degree-of-freedom parallel structure is mounted on the connecting block, and the mounting plate is mounted on the two-degree-of-freedom parallel structure. The two-degree-of-freedom parallel structure includes a base, a moving platform, and two drive components. The base is fixedly installed on the connecting block. The moving platform is rotatably connected to the mounting plate and the base. The two drive components are respectively installed on the base and rotatably connected to the moving platform. The two drive components apply separate driving forces to the moving platform. The base includes a seat body, two side plates extending from the seat body, and a fixing rod fixedly installed between the two side plates. The moving platform includes a main body, two side portions extending from the main body, and a connecting portion fixed to the two side portions. The fixing rod is rotatably connected to the connecting portion. The drive assembly includes a drive component, a first crank, a ball joint, and a first ball rod. The drive component is mounted on the base and located between the two side plates. The first crank is rotatably mounted on the side plate. The drive component is a motor and a reducer connected to the motor. The first crank is connected to the output end of the reducer. The end of the first crank is connected to one end of the first ball rod through the ball joint. The other end of the first ball rod is rotatably connected to the moving platform. The base is arranged intersecting the moving platform, and the fixing rod is perpendicular to the connecting part.

Images