Five-degree-of-freedom hybrid robot

Abstract

The application discloses a five-degree-of-freedom hybrid robot. The application comprises two pairs of fixed supports, three rotating frames, a rotating constraint mechanism, three telescopic legs, a movable platform and a two-degree-of-freedom swing head connected with the movable platform. The first and second fixed supports are arranged symmetrically and parallel to each other, and are sequentially connected with the first and second rotating frames. The third rotating frame is connected with the second rotating frame in a rotating mode. The first and second telescopic legs are coplanar and symmetrically arranged on the first rotating frame, and are connected with the first rotating frame and the movable platform in a rotating mode. The third telescopic leg is connected with the third rotating frame and the movable platform in a rotating mode. The rotating constraint mechanism is arranged between the first and second rotating frames, and the mechanism makes the rotating axis between the second and third rotating frames always perpendicular to the plane where the first and second telescopic legs are located. The three telescopic legs have the same structure, the whole equipment system has high modularization degree, the manufacturing and assembly precision is easy to guarantee, the rigidity is high, the motion form is clear and the control is convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a five-degree-of-freedom hybrid robot. BACKGROUND

[0002] The hybrid robot combines the advantages of series and parallel mechanisms in workspace, speed and stiffness, and has high flexibility, high stiffness and large workspace, etc., and has great advantages in the processing of complex curved surface structures, and is widely used in aerospace, rail transportation, automobiles and ships, etc.

[0003] A five-degree-of-freedom hybrid robot disclosed in patent US20130087004A1 includes a parallel mechanism and a two-degree-of-freedom swing head. The parallel mechanism includes a static platform, a rotating frame, a dynamic platform, a two-degree-of-freedom swing head and three telescopic legs. The rotating frame is hinged to the static platform through a rotating pair, and the first and second telescopic legs are symmetrically arranged in space relative to the third telescopic leg; one end of the first and second telescopic legs is connected to the rotating frame through a rotating pair, and the other end is also connected to the dynamic platform through a rotating pair; one end of the third telescopic leg is connected to the static platform through a spherical hinge composed of three rotating pairs, and the other end is connected to the dynamic platform through a rotating pair.

[0004] The hybrid robot only the first and second telescopic legs can adopt the same structure. The third telescopic leg needs to provide a rotating degree of freedom around the moving direction of the telescopic leg to ensure that the spherical hinge at the static platform is realized, and the rotating axis needs to converge with the two rotating axes on the rotating frame connected by the third telescopic leg at a point, which is complex in structure and has high requirements on processing and assembly.

[0005] The parallel part of the hybrid robot is a three-degree-of-freedom parallel mechanism with one translation and two rotations, and the dynamic platform has two rotational degrees of freedom, but the posture of the third telescopic leg of the robot is determined by the coupled motion of the three rotating pairs that make up the spherical hinge, and the structure of the third telescopic leg is different from that of the first and second telescopic legs, which is relatively complex in motion analysis. SUMMARY

[0006] The purpose of the present application is to provide a five-degree-of-freedom hybrid robot with modularity, high stiffness, clear motion form, low manufacturing cost and easy-to-ensure manufacturing and assembly precision.

[0007] The technical solution adopted by the present application to solve the technical problems existing in the prior art is:

[0008] A five-degree-of-freedom hybrid robot comprises: a first fixed left support, a first fixed right support 1, a second fixed left support, a second fixed right support 2, a first rotating frame 3, a second rotating frame 4, a third rotating frame 5, a rotation constraint mechanism 6, a first telescopic leg 7, a second telescopic leg 8, a third telescopic leg 9, a moving platform 10, and a two-degree-of-freedom swing head 11 connected in series with the moving platform 10; the first fixed left support, the first fixed right support 1, the second fixed left support and the second fixed right support 2 are arranged parallel to each other and symmetrically, the first fixed left support and the first fixed right support 1 are rotatably connected with the first rotating frame 3, the second fixed left support and the second fixed right support 2 are rotatably connected with the second rotating frame 4; the second rotating frame 4 is connected to the second rotating frame 4. The third rotating frame 5 is rotationally connected to the frame rotating pair 1-5; the first telescopic leg 7 and the second telescopic leg 8 are symmetrically arranged on the first rotating frame 3, one end of the first telescopic leg 7 and the second telescopic leg 8 is rotationally connected to the first rotating frame 3, and the other end of the first telescopic leg 7 and the second telescopic leg 8 is rotationally connected to the moving platform 10, and the first telescopic leg 7 and the second telescopic leg 8 are arranged in the same horizontal plane; one end of the third telescopic leg 9 is rotationally connected to the third rotating frame 5, and the other end of the third telescopic leg 9 is rotationally connected to the moving platform 10; a rotation constraint mechanism 6 is provided between the first rotating frame 3 and the second rotating frame 4, and the rotation constraint mechanism 6 makes the axis of the frame rotating pair 1-5 always perpendicular to the plane where the first telescopic leg 7 and the second telescopic leg 8 are located.

[0009] Furthermore, the rotation restraining mechanism includes a connecting member, one end of which is rotationally connected to the first rotating frame, and the other end is rotationally connected to the second rotating frame, together forming a composite frame structure based on the parallelogram mechanism principle, which restrains the relative rotation between the first and second rotating frames.

[0010] Furthermore, the first telescopic leg includes a first lug and a first movable rod, the second telescopic leg includes a second lug and a second movable rod, and the third telescopic leg includes a third lug and a third movable rod. The first rotatable frame and the first lug form the first rotating pair of the telescopic leg, the first lug and the first movable rod form the first movable pair, and the front end of the first movable rod and the movable platform form the second rotating pair of the telescopic leg. The first rotatable frame and the second lug form the third rotating pair of the telescopic leg, the second lug and the second movable rod form the second movable pair, and the front end of the second movable rod and the movable platform form the fourth rotating pair of the telescopic leg. The third rotatable frame and the third lug form the fifth rotating pair of the telescopic leg, the third lug and the third movable rod form the third movable pair, and the front end of the third movable rod and the movable platform form the sixth rotating pair of the telescopic leg. The first, second, third, and fourth rotating pair axes of the telescopic leg are parallel to each other; the first movable pair axis intersects the first and second rotating pair axes of the telescopic leg at right angles, respectively; the second movable pair axis intersects the third and fourth rotating pair axes of the telescopic leg at right angles, respectively; and the first rotatable frame axis, the first rotating pair axis of the telescopic leg, and the first movable pair axis converge at a point. The first turret axis, the third secondary rotation axis of the telescopic leg, and the second secondary movement axis converge at another point; the first turret axis intersects the first secondary rotation axis of the telescopic leg and the third secondary rotation axis of the telescopic leg at right angles. The first secondary movement axis and the second secondary movement axis form a front plane A.

[0011] The fifth and sixth minor rotation axes of the telescopic legs are parallel to each other; the third minor rotation axis intersects the fifth and sixth minor rotation axes of the telescopic legs at right angles. The frame's minor rotation axis intersects the fifth and third minor rotation axes of the telescopic legs at a single point, and the frame's minor rotation axis is perpendicular to the fifth minor rotation axis of the telescopic legs. The sixth minor rotation axis of the telescopic legs intersects the second and fourth minor rotation axes of the telescopic legs at right angles.

[0012] Furthermore, the left and right ends of the first rotating frame and the first fixed support constitute the first rotating pair of the rotating frame, the left and right ends of the second rotating frame and the second fixed support constitute the second rotating pair of the rotating frame, the first rotating frame and one end of the connecting member constitute the third rotating pair of the rotating frame, and the second rotating frame and the other end of the connecting member constitute the fourth rotating pair of the rotating frame. The first, second, third and fourth rotating pair axes of the rotating frame are parallel to each other. The distance between the first and second rotating pair axes of the rotating frame is the same as the distance between the third and fourth rotating pair axes of the rotating frame, and the distance between the first and third rotating pair axes of the rotating frame is the same as the distance between the second and fourth rotating pair axes of the rotating frame. The first rotating frame, the connecting member and the second rotating frame together form a composite frame structure based on the principle of a parallelogram mechanism, ensuring that the frame rotating pair axis is always parallel to the first and third rotating pair axes of the telescopic legs, that is, the frame rotating pair axis is always perpendicular to the front plane A.

[0013] Further, the two-degree-of-freedom swing head comprises a first swing joint and a second swing joint. The first swing joint forms a swing head first rotation pair with the moving platform, and the second swing joint forms a swing head second rotation pair with the first swing joint. The swing head first rotation pair axis is perpendicular to the plane formed by the second rotation pair axis of the telescopic leg and the fourth rotation pair axis of the telescopic leg; and the swing head second rotation pair axis is parallel to the plane formed by the second rotation pair axis of the telescopic leg and the fourth rotation pair axis of the telescopic leg.

[0014] Further, the first movement pair, the second movement pair and the third movement pair are all driving pairs.

[0015] The present application has the following advantages:

[0016] The hybrid robot has a high degree of modularity, adopts a rotation constraint mechanism, in particular, a composite frame structure based on the principle of a parallelogram mechanism, and realizes the motion decoupling of the third telescopic leg end posture, so that the motion form is clear and easy to control.

[0017] The first telescopic leg, the second telescopic leg and the third telescopic leg have the same structure, have good interchangeability, simplify the structure design, and reduce the manufacturing cost.

[0018] The parallel part is a one-translational two-rotational three-degree-of-freedom parallel mechanism, and a two-degree-of-freedom swing head is connected at the end of the moving platform to form a five-degree-of-freedom hybrid robot. The three telescopic legs of the robot have the same structure, the entire equipment system has a high degree of modularity, the manufacturing and assembly precision is easy to guarantee, the rigidity is high, the motion form is clear, and the control is easy. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a five-degree-of-freedom hybrid robot mechanism schematic diagram of the present application;

[0020] Figure 2 is a five-degree-of-freedom hybrid robot movement pair schematic diagram of the present application;

[0021] Figure 3 is a rotation constraint mechanism principle schematic diagram in the present application;

[0022] Figure 4 is Figure 3 the side view of;

[0023] Figure 5 is the first telescopic leg, the second telescopic leg and the related connection schematic diagram of the present application;

[0024] Figure 6 is the third telescopic leg and the related connection schematic diagram of the present application.

[0025] In the figure: 1, first fixed support; 2, second fixed support; 3, first rotating frame; 4, second rotating frame; 5, third rotating frame; 6, rotating constraint mechanism; 6a, connecting piece; 7, first telescopic leg; 7a, first supporting lug; 7b, first moving rod; 8, second telescopic leg; 8a, second supporting lug; 8b, second moving rod; 9, third telescopic leg; 9a, third supporting lug; 9b, third moving rod; 10, moving platform; 11, two-degree-of-freedom swing head; 11a, first swing joint; 11b, second swing joint.

[0026] 1-1, first rotating pair of rotating frame; 1-2, second rotating pair of rotating frame; 1-3, third rotating pair of rotating frame; 1-4, fourth rotating pair of rotating frame; 1-5, frame rotating pair; 2-1, first rotating pair of telescopic leg; 2-2, second rotating pair of telescopic leg; 2-3, third rotating pair of telescopic leg; 2-4, fourth rotating pair of telescopic leg; 2-5, fifth rotating pair of telescopic leg; 2-6, sixth rotating pair of telescopic leg; 3-1, first moving pair; 3-2, second moving pair; 3-3, third moving pair; 4-1, first rotating pair of swing head; 4-2, second rotating pair of swing head; A, plane where first moving pair axis and second moving pair axis are located. DETAILED DESCRIPTION

[0027] The application will now be described in further detail with reference to the drawings. These drawings show only the basic structure of the application and are not drawn to scale. The orientation and reference are used only to assist in the description of the features in the drawings. The following detailed description is therefore not to be taken in a limiting sense and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0028] As Figure 1 , Figure 2As shown, a five-degree-of-freedom hybrid robot includes: a first fixed left support, a first fixed right support 1, a second fixed left support, a second fixed right support 2, a first turret 3, a second turret 4, a third turret 5, a rotation constraint mechanism 6, a first telescopic leg 7, a second telescopic leg 8, a third telescopic leg 9, a movable platform 10, and a two-degree-of-freedom swing head 11 connected in series with the movable platform 10. The first fixed left support, the first fixed right support 1, the second fixed left support, and the second fixed right support 2 are arranged parallel to and symmetrically with each other. The first turret 3 is rotatably connected between the first fixed left support and the first fixed right support 1, and the second turret 4 is rotatably connected between the second fixed left support and the second fixed right support 2. The third turret 5 is rotatably connected to the second turret 4 via a frame rotation pair 1-5. The first telescopic leg 7 and the second telescopic leg 8 are symmetrically arranged on the first turret 3. One end of the first telescopic leg 7 and the second telescopic leg 8 are rotatably connected to the first turret 3, and the other end is rotatably connected to the movable platform 10. The first telescopic leg 7 and the second telescopic leg 8 are arranged in the same horizontal plane. One end of the third telescopic leg 9 is rotatably connected to the third turret 5, and the other end is rotatably connected to the movable platform 10.

[0029] A rotation constraint mechanism 6 is provided between the first rotating frame 3 and the second rotating frame 4 , and the rotation constraint mechanism 6 ensures that the axis of the frame rotating pair 1 - 5 is always perpendicular to the plane where the first telescopic leg 7 and the second telescopic leg 8 are located.

[0030] Preferably, if Figure 3 、 Figure 4 As shown, a specific embodiment of the rotation restraint mechanism 6 is provided: the rotation restraint mechanism 6 adopts a connecting member 6a, one end of the connecting member 6a is rotationally connected to the first rotating frame 3, and the other end is rotationally connected to the second rotating frame 4, together forming a composite frame structure based on the parallelogram mechanism principle, which restrains the relative rotation between the first rotating frame 3 and the second rotating frame 4.

[0031] Preferably, if Figure 5 、 Figure 6 As shown, the first telescopic leg 7 includes a first lug 7a and a first moving rod 7b, the second telescopic leg 8 includes a second lug 8a and a second moving rod 8b, and the third telescopic leg 9 includes a third lug 9a and a third moving rod 9b.

[0032] The first rotating frame 3 and the first lug 7a form the first rotating pair 2-1 of the telescopic leg. The first lug 7a and the first moving rod 7b form the first moving pair 3-1. The front end of the first moving rod 7b and the movable platform 10 form the second rotating pair 2-2 of the telescopic leg. The first rotating frame 3 and the second lug 8a form the third rotating pair 2-3 of the telescopic leg. The second lug 8a and the second moving rod 8b form the second moving pair 3-2. The front end of the second moving rod 8b and the movable platform 10 form the fourth rotating pair 2-4 of the telescopic leg. The third rotating frame 5 and the third lug 9a form the fifth rotating pair 2-5 of the telescopic leg. The third lug 9a and the third moving rod 9b form the third moving pair 3-3. The front end of the third moving rod 9b and the movable platform 10 form the sixth rotating pair 2-6 of the telescopic leg.

[0033] The axis of the first rotating pair 2-1 of the telescopic leg, the axis of the second rotating pair 2-2 of the telescopic leg, the axis of the third rotating pair 2-3 of the telescopic leg, and the axis of the fourth rotating pair 2-4 of the telescopic leg are parallel to each other; the axis of the first movable pair 3-1 intersects perpendicularly with the axis of the first rotating pair 2-1 of the telescopic leg and the axis of the second rotating pair 2-2 of the telescopic leg, respectively; the axis of the second movable pair 3-2 intersects perpendicularly with the axis of the third rotating pair 2-3 of the telescopic leg and the axis of the fourth rotating pair 2-4 of the telescopic leg, respectively; the axis of the first rotating frame 3, the axis of the first rotating pair 2-1 of the telescopic leg, and the axis of the first movable pair 3-1 converge at one point. The axis of the first rotating frame 3, the axis of the third rotating pair 2-3 of the telescopic leg, and the axis of the second movable pair 3-2 converge at another point; the axis of the first rotating frame 3 intersects perpendicularly with the axis of the first rotating pair 2-1 of the telescopic leg and the axis of the third rotating pair 2-3 of the telescopic leg, respectively.

[0034] The axis of the first movable pair 3-1 and the axis of the second movable pair 3-2 constitute the front plane A.

[0035] The axis of the fifth rotating pair 2-5 of the telescopic leg is parallel to the axis of the sixth rotating pair 2-6 of the telescopic leg; the axis of the third moving pair 3-3 is perpendicular to the axis of the fifth rotating pair 2-5 of the telescopic leg and the axis of the sixth rotating pair 2-6 of the telescopic leg respectively; the axis of the frame rotating pair 1-5 intersects with the axis of the fifth rotating pair 2-5 of the telescopic leg and the axis of the third moving pair 3-3 at one point, and the axis of the frame rotating pair 1-5 is perpendicular to the axis of the fifth rotating pair 2-5 of the telescopic leg.

[0036] The axis of the sixth rotation pair 2-6 of the telescopic leg is perpendicularly intersected with the axis of the second rotation pair 2-2 of the telescopic leg and the axis of the fourth rotation pair 2-4 of the telescopic leg respectively.

[0037] Preferably, if Figures 1 to 4As shown in the figure, the left and right ends of the first rotating frame 3 respectively form rotating frame first rotating pair 1-1 with the first fixed left support and the first fixed right support 1, the left and right ends of the second rotating frame 4 respectively form rotating frame second rotating pair 1-2 with the second fixed left support and the second fixed right support 2, one end of the first rotating frame 3 forms rotating frame third rotating pair 1-3 with connecting piece 6a, and the other end of the second rotating frame 4 forms rotating frame fourth rotating pair 1-4 with connecting piece 6a.

[0038] The rotating frame first rotating pair 1-1 axis, the rotating frame second rotating pair 1-2 axis, the rotating frame third rotating pair 1-3 axis, and the rotating frame fourth rotating pair 1-4 axis are parallel to each other. The distance between the rotating frame first rotating pair 1-1 axis and the rotating frame second rotating pair 1-2 axis is the same as the distance between the rotating frame third rotating pair 1-3 axis and the rotating frame fourth rotating pair 1-4 axis, and the distance between the rotating frame first rotating pair 1-1 axis and the rotating frame third rotating pair 1-3 axis is the same as the distance between the rotating frame second rotating pair 1-2 axis and the rotating frame fourth rotating pair 1-4 axis. The first rotating frame 3, the connecting piece 6a, and the second rotating frame 4 together form a composite frame structure based on the principle of a parallelogram mechanism, which ensures that the frame rotating pair 1-5 axis is always parallel to the telescopic leg first rotating pair 2-1 axis and the telescopic leg third rotating pair 2-3 axis, that is, the frame rotating pair 1-5 axis is always perpendicular to the front plane A.

[0039] Preferably, as shown in the figure, Figure 1 , Figure 2 As shown in the figure, the two-degree-of-freedom swing head 11 includes a first swing joint 11a and a second swing joint 11b. The first swing joint 11a forms a swing head first rotating pair 4-1 with the moving platform 10, and the second swing joint 11b forms a swing head second rotating pair 4-2 with the first swing joint 11a. The swing head first rotating pair 4-1 axis is perpendicular to the plane formed by the telescopic leg second rotating pair 2-2 axis and the telescopic leg fourth rotating pair 2-4 axis; the swing head second rotating pair 4-2 axis is parallel to the plane formed by the telescopic leg second rotating pair 2-2 axis and the telescopic leg fourth rotating pair 2-4 axis.

[0040] Preferably, the first moving pair 3-1, the second moving pair 3-2, and the third moving pair 3-3 are all driving pairs.

[0041] The terms "connected", "connected" used in the present application should be understood broadly, for example, it can be fixed connection, or detachable connection: it can be directly connected, or indirectly connected through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

Claims

1. A five-degree-of-freedom hybrid robot, characterized in that: The invention comprises a first fixed left support, a first fixed right support (1), a second fixed left support, a second fixed right support (2), a first rotating frame (3), a second rotating frame (4), a third rotating frame (5), a rotation constraint mechanism (6), a first telescopic leg (7), a second telescopic leg (8), a third telescopic leg (9), a movable platform (10), and a two-degree-of-freedom swing head (11) connected in series with the movable platform (10); the first fixed left support, the first fixed right support (1), the second fixed left support and the second fixed right support (2) are arranged parallel to each other and symmetrically; the first rotating frame (3) is rotatably connected between the first fixed left support and the first fixed right support (1); the second rotating frame (4) is rotatably connected between the second fixed left support and the second fixed right support (2); the second rotating frame (4) is rotatably connected to the movable platform (10) by a frame rotating pair (1-5). The first telescopic leg (7) and the second telescopic leg (8) are symmetrically arranged on the first rotating frame (3), one end of the first telescopic leg (7) and the second telescopic leg (8) are rotatably connected to the first rotating frame (3), and the other end of the first telescopic leg (7) and the second telescopic leg (8) are rotatably connected to the moving platform (10), and the first telescopic leg (7) and the second telescopic leg (8) are arranged on the same horizontal plane; one end of the third telescopic leg (9) is rotatably connected to the third rotating frame (5), and the other end of the third telescopic leg (9) is rotatably connected to the moving platform (10); a rotation constraint mechanism (6) is arranged between the first rotating frame (3) and the second rotating frame (4), and the rotation constraint mechanism (6) makes the axis of the frame rotating pair (1-5) always perpendicular to the plane where the first telescopic leg (7) and the second telescopic leg (8) are located.

2. A five-degree-of-freedom hybrid robot according to claim 1, characterized in that: The rotation restraining mechanism adopts a connecting piece, one end of which is rotationally connected to the first rotating frame, and the other end of which is rotationally connected to the second rotating frame, together forming a composite frame structure based on the parallelogram mechanism principle to restrain the relative rotation between the first and second rotating frames.

3. A five-degree-of-freedom hybrid robot according to claim 1, characterized in that: The first telescopic leg includes a first lug and a first moving rod, the second telescopic leg includes a second lug and a second moving rod, and the third telescopic leg includes a third lug and a third moving rod; The first rotating frame and the first supporting ear form a first rotating pair of the telescopic leg, the first supporting ear and the first moving rod form a first moving pair, and the front end of the first moving rod and the moving platform form a second rotating pair of the telescopic leg; the first rotating frame and the second supporting ear form a third rotating pair of the telescopic leg, the second supporting ear and the second moving rod form a second moving pair, and the front end of the second moving rod and the moving platform form a fourth rotating pair of the telescopic leg; the third rotating frame and the third supporting ear form a fifth rotating pair of the telescopic leg, the third supporting ear and the third moving rod form a third moving pair, and the front end of the third moving rod and the moving platform form a sixth rotating pair of the telescopic leg; The axes of the first rotating pair of the telescopic leg, the second rotating pair of the telescopic leg, the third rotating pair of the telescopic leg, and the fourth rotating pair of the telescopic leg are parallel to each other; the axis of the first movable pair intersects perpendicularly with the axes of the first and second rotating pairs of the telescopic leg respectively; The second secondary axis of motion intersects perpendicularly with the third and fourth secondary axes of rotation of the telescopic leg, respectively; the first turret axis, the first secondary axis of rotation of the telescopic leg, and the first secondary axis of motion converge at one point; the first turret axis, the third secondary axis of rotation of the telescopic leg, and the second secondary axis of motion converge at another point; the first turret axis intersects perpendicularly with the first secondary axis of rotation of the telescopic leg and the third secondary axis of rotation of the telescopic leg, respectively; The first moving secondary axis and the second moving secondary axis form a front plane A; The fifth and sixth rotational secondary axes of the telescopic legs are parallel to each other; the third movement secondary axis intersects the fifth and sixth rotational secondary axes of the telescopic legs at right angles, respectively; the frame rotation secondary axis intersects the fifth rotational secondary axis of the telescopic legs and the third movement secondary axis at a point, and the frame rotation secondary axis is perpendicular to the fifth rotational secondary axis of the telescopic legs; The sixth secondary rotation axis of the telescopic leg is perpendicularly intersected with the second and fourth secondary rotation axes of the telescopic leg respectively.

4. A five-degree-of-freedom hybrid robot according to claim 3, characterized in that: The left and right ends of the first turret respectively form a first turret rotation pair with the first left fixed support and the first right fixed support, the left and right ends of the second turret respectively form a second turret rotation pair with the second left fixed support and the second right fixed support, the first turret and one end of the connecting member form a third turret rotation pair, and the second turret and the other end of the connecting member form a fourth turret rotation pair; The axes of the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair of the rotating frame are parallel to each other; the distance between the axes of the first rotating pair and the second rotating pair of the rotating frame is the same as the distance between the axes of the third rotating pair and the fourth rotating pair of the rotating frame, and the distance between the axes of the first rotating pair and the third rotating pair of the rotating frame is the same as the distance between the axes of the second rotating pair and the fourth rotating pair of the rotating frame; the first rotating frame, the connecting member and the second rotating frame together form a composite frame structure based on the principle of a parallelogram mechanism, ensuring that the axis of the rotating pair of the frame is always parallel to the first and third rotating pair axes of the telescopic leg.

5. The five-degree-of-freedom hybrid robot according to claim 3, characterized in that: The two-degree-of-freedom pendulum head includes a first swing joint and a second swing joint; the first swing joint and the moving platform form a first rotation pair of the pendulum head, and the second swing joint and the first swing joint form a second rotation pair of the pendulum head; the first rotation pair axis of the pendulum head is perpendicular to the plane formed by the second rotation pair axis of the telescopic leg and the fourth rotation pair axis of the telescopic leg; the second rotation pair axis of the pendulum head is parallel to the plane formed by the second rotation pair axis of the telescopic leg and the fourth rotation pair axis of the telescopic leg.

6. A five-degree-of-freedom hybrid robot according to claim 3, characterized in that: The first moving pair, the second moving pair and the third moving pair are all driving pairs.

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