Five-degree-of-freedom industrial robot with hybrid structure
Patent Information
- Application Number
- CN202522542241.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-30
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-11-30
AI Technical Summary
Existing hybrid robots face challenges in selecting parallel mechanisms for machining complex curved surfaces, resulting in complex equipment structures, high assembly difficulty, high costs, and difficult maintenance, making it difficult to meet the flexibility and precision requirements of high-end manufacturing fields.
It adopts a composite configuration of 3-PUU parallel and serial mechanisms, and combines three identical simple branches with a linear slide module to achieve five degrees of freedom machining capability, including tool movement along the X, Y, and Z axes and rotation around the X and Z axes. It is driven by stepper motors and servo motors, which simplifies the structural design and reduces costs.
It enables precision machining of complex curved surfaces, reduces equipment manufacturing and maintenance costs, and improves motion flexibility and accuracy, making it suitable for the application needs of small and medium-sized enterprises.
Smart Images
Figure CN224927968U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a five-degree-of-freedom hybrid structure industrial robot, belonging to the field of hybrid robots. Background Technology
[0002] Machining complex curved surfaces is a key technology in high-end manufacturing fields such as aerospace, automotive manufacturing, and energy equipment, placing extremely high demands on the mobility, precision, and dynamic performance of machining equipment. Therefore, developing a high-performance hybrid robot specifically designed for complex curved surface machining, in line with the needs of high-end equipment manufacturing, is of significant theoretical and practical value for promoting independent innovation in industrial robot technology, improving equipment performance, and realizing engineering applications.
[0003] Hybrid mechanisms, as composite mechanical systems that integrate the advantages of series and parallel mechanisms, demonstrate outstanding comprehensive performance in complex motion tasks. Their unique structural design and performance advantages provide an effective solution to resolving the contradiction between accuracy, stiffness, and flexibility in traditional single-configuration mechanisms, and possess significant engineering application value.
[0004] Despite the significant technological advantages of hybrid robots, their development and application still face many prominent bottlenecks. For example, the selection of parallel mechanisms within hybrid systems is a major challenge. To enrich the design system of this type of mechanism and provide a reference for subsequent mechanism optimization, it is urgent to develop new hybrid structure industrial robots to achieve precision machining of complex spatial surfaces and to extend their application to other industrial fields.
[0005] In view of the above, this utility model is hereby proposed. Summary of the Invention
[0006] This utility model provides a five-degree-of-freedom hybrid structure industrial robot. The rotating frame of the vertical moving platform and the horizontally swinging end effector are connected in series through a 3-PUU parallel mechanism. The end effector can move along the X, Y, and Z axes and rotate around the X and Z axes, with a total of five degrees of freedom. The structure is simple and can be used for processing complex curved surfaces in industry.
[0007] The technical solution of this utility model is: A five-degree-of-freedom hybrid industrial robot includes a fixed platform N, a moving platform M, and an end effector 8. It also includes: three sets of linear slide modules, which are arranged in parallel and fixed to the three corners of the fixed platform N; three simple branches, each branch corresponding to one of the three linear slide modules, with one end connected to the corresponding slide Q13 of the linear slide module, and the other end of each branch connected to the three corners of the moving platform M via kinematic pairs. The three linear slide modules provide power, and the combined motion of the simple branches constitutes the movement of the moving platform M along the X, Y, and Z axes; a fourth motor 7, which, along with a rotating frame 9, is arranged on opposite sides of the moving platform M, with the fourth motor 7 closer to the fixed platform N; a rotating frame 9, on which the end effector 8 is mounted via a rotational engagement, and the end effector 8 is driven to rotate by a fifth motor 10; and the fourth motor 7, fixed to the moving platform M, provides power to drive the rotating frame 9 to rotate around the Z-axis.
[0008] Furthermore, the slide Q13 in the three linear slide modules, together with the lead screw in the corresponding linear slide module, forms prismatic joints P11, P22, and P33, which are kinematic joints at one end of three simple chains; the kinematic joints at the other end of the three simple chains connected to the three corners of the moving platform M are revolute joints.
[0009] Furthermore, the three simple branches are simple branch I, simple branch II, and simple branch III, and simple branch I, simple branch II, and simple branch III have the same structure and do not intersect.
[0010] Further, using a simple branch I as an example: the simple branch I forms a parallelogram mechanism through two sets of first connecting blocks Q11, second connecting blocks Q12, and first connecting rods L11. The first set of first connecting blocks Q11, first connecting rods L11, and second connecting blocks Q12 are sequentially connected to form the first side of the parallelogram mechanism. The second set of first connecting blocks Q11, first connecting rods L11, and second connecting blocks Q12 are sequentially connected to form the second side of the parallelogram mechanism, and the second side and the first side are opposite to each other. The first ends of the first side and the second side are connected to the slide table to form the third side of the parallelogram mechanism. The second ends of the first side and the second side are connected to a corner of the moving platform M to form the fourth side of the parallelogram mechanism, and the fourth side and the third side are opposite to each other.
[0011] Further, using the first side of simple branch I as an example: one end of the first connecting rod L11 is connected to the first connecting block Q11 to form a rotating joint R12, the first connecting block Q11 is connected to the slide Q13 to form a rotating joint R11, the other end of the first connecting rod L11 is connected to the second connecting block Q12 to form a rotating joint R13, and the second connecting block Q12 is connected to one corner of the moving platform M to form a rotating joint R14.
[0012] The beneficial effects of this utility model are as follows: This utility model adopts a composite configuration of "3-PUU parallel mechanism + series mechanism". The core consists of a fixed platform, a moving platform, a rotating frame, a cutting tool, and three simple branches with the same structure. Through the precise integration of the parallel mechanism and the series mechanism, the cutting tool can move along the X, Y, and Z axes and rotate around the X and Z axes, fully covering the five-degree-of-freedom machining requirements. It accurately matches the requirements of motion flexibility for complex curved surface machining. The structure is simple, and both the equipment manufacturing cost and the subsequent maintenance cost are significantly reduced. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.
[0014] Figure 2 This is a schematic diagram of the parallel mechanism structure of this utility model.
[0015] Figure 3 This is a schematic diagram of the serial connection mechanism of this utility model.
[0016] Figure 4 This is a schematic diagram of a simple branch I structure of this utility model.
[0017] Figure 5 This is a schematic diagram of the linear slide module structure of this utility model.
[0018] Figure 6 This is a schematic diagram of the simple branch I and the linear slide module of this utility model.
[0019] Figure 7 This is a schematic diagram of the simple branch I and the moving platform M connected in this utility model.
[0020] Figure 8 This is a schematic diagram of the connection structure of each kinematic pair in this utility model.
[0021] Figure 9 This is a three-dimensional structural diagram of the cutting tool of this utility model.
[0022] The labels in the diagram are as follows: N - fixed platform, M - moving platform, I - simple branch I, II - simple branch II, III - simple branch III, 1 - first linear slide module, 2 - second linear slide module, 3 - third linear slide module, 4 - first motor, 5 - second motor, 6 - third motor, 7 - fourth motor, 8 - tool, 9 - rotating frame, 10 - fifth motor. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.
[0024] Example 1: As Figures 1-9 As shown, a five-degree-of-freedom hybrid industrial robot includes a fixed platform N, a moving platform M, an end effector 8, and further includes: Three sets of linear slide modules, the three sets of linear slide modules arranged in parallel are fixed at the three corners of the fixed platform N; Three simple branches are arranged in a one-to-one correspondence with three linear slide modules, and one end of each simple branch is connected to the slide Q13 of the corresponding linear slide module. The kinematic pairs at the other end of each simple branch are connected to the three corners of the moving platform M. The three linear slide modules provide power, and the composite motion of the simple branches constitutes the movement of the moving platform M along the X, Y, and Z axes.
[0025] The fourth motor 7 and the rotating frame 9 are arranged on opposite sides of the moving platform M, with the fourth motor 7 positioned closer to the fixed platform N.
[0026] A rotating frame 9 is mounted on the side of the rotating frame 9 away from the fourth motor 7, and the end effector 8 is driven to rotate by the fifth motor 10; the fourth motor 7, which is fixed on the moving platform M, provides power to drive the rotating frame 9 to rotate around the Z-axis.
[0027] Furthermore, the slide Q13 in the three linear slide modules, in conjunction with the lead screw in the corresponding linear slide module, forms sliding joints P11, P22, and P33, which serve as kinematic pairs at one end of three simple chains (see reference). Figure 8 The kinematic pair that works with lead screw S1 is a sliding pair P11, the kinematic pair that works with lead screw S2 is a sliding pair P22, and the kinematic pair that works with lead screw S3 is a sliding pair P33; the kinematic pair at the other end of the three simple chains that connect to the three corners of the moving platform M is a revolute pair.
[0028] Furthermore, the first motor 4, the second motor 5, and the third motor 6 serve as power sources for the linear slide module, driving the rotation of the lead screw in the linear slide module, thereby driving the sliding joints P11, P22, and P33. Through the coupled motion of the three simple branches, the movement of the moving platform in the X, Y, and Z axes is realized.
[0029] Furthermore, the three simple branches are simple branch I, simple branch II, and simple branch III, and simple branch I, simple branch II, and simple branch III have the same structure and do not intersect.
[0030] Further, refer to Figure 4 The following is a description using a simple branch I: The simple branch I forms a parallelogram mechanism through two sets of first connecting blocks Q11, second connecting blocks Q12, and first connecting rods L11. The first set of first connecting blocks Q11, first connecting rods L11, and second connecting blocks Q12 are connected in sequence to form the first side of the parallelogram mechanism. The second set of first connecting blocks Q11, first connecting rods L11, and second connecting blocks Q12 are connected in sequence to form the second side of the parallelogram mechanism, and the second side and the first side are opposite to each other. The first ends of the first side and the second side are connected to the slide to form the third side of the parallelogram mechanism. The second ends of the first side and the second side are connected to a corner of the moving platform M to form the fourth side of the parallelogram mechanism, and the fourth side and the third side are opposite to each other.
[0031] Further, refer to Figure 3 , Figure 4 , Figure 8 Described using the first side of simple branch I: One end of the first connecting rod L11 is connected to the first connecting block Q11 to form a revolute joint R12; the first connecting block Q11 is connected to the slide Q13 to form a revolute joint R11; the other end of the first connecting rod L11 is connected to the second connecting block Q12 to form a revolute joint R13; the second connecting block Q12 is connected to one corner of the moving platform M to form a revolute joint R14. The rotating frame is connected to the supports on both sides of the end effector to form a revolute joint R41, enabling the end effector to rotate around the X-axis; the rotating frame is connected to the output shaft of the fourth motor to form a revolute joint R42, enabling the end effector to rotate around the Z-axis; the X, Y, and Z axes form a three-dimensional coordinate system.
[0032] Further, refer to Figure 8The simple branch II forms a parallelogram mechanism through two sets of third connecting blocks, fourth connecting blocks, and second connecting rods L22. The first set of third connecting blocks, second connecting rods L22, and fourth connecting blocks are connected in sequence to form the first side of the parallelogram mechanism. The second set of third connecting blocks, second connecting rods L22, and fourth connecting blocks are connected in sequence to form the second side of the parallelogram mechanism, and the second side and the first side are opposite to each other. The first ends of the first side and the second side are connected to the slide to form the third side of the parallelogram mechanism. The second ends of the first side and the second side are connected to a corner of the moving platform M to form the fourth side of the parallelogram mechanism, and the fourth side and the third side are opposite to each other.
[0033] Further, refer to Figure 8 The first side of the simple branch II is described as follows: one end of the second connecting rod L22 is connected to the third connecting block to form a rotating joint R22, the third connecting block is connected to the corresponding slide to form a rotating joint R21, the other end of the second connecting rod L22 is connected to the fourth connecting block to form a rotating joint R23, and the fourth connecting block is connected to a corner of the moving platform M to form a rotating joint R24.
[0034] Further, refer to Figure 8 The simple branch III forms a parallelogram mechanism through two sets of fifth connecting blocks, sixth connecting blocks, and third connecting rods L33. The first set of fifth connecting blocks, third connecting rods L33, and sixth connecting blocks are connected in sequence to form the first side of the parallelogram mechanism. The second set of fifth connecting blocks, third connecting rods L33, and sixth connecting blocks are connected in sequence to form the second side of the parallelogram mechanism, and the second side and the first side are opposite to each other. The first ends of the first side and the second side are connected to the slide table to form the third side of the parallelogram mechanism. The second ends of the first side and the second side are connected to a corner of the moving platform M to form the fourth side of the parallelogram mechanism, and the fourth side and the third side are opposite to each other.
[0035] Further, refer to Figure 8 The first side of simple branch III is described as follows: one end of the third connecting rod L33 is connected to the fifth connecting block to form a rotating pair R32, the fifth connecting block is connected to the corresponding slide to form a rotating pair R31, the other end of the third connecting rod L33 is connected to the sixth connecting block to form a rotating pair R33, and the sixth connecting block is connected to a corner of the moving platform M to form a rotating pair R34.
[0036] Furthermore, the moving platform M adopts a triangular shape, which is not easily deformed when bearing the force transmitted by the moving platform or external load, providing a stable base for the overall equipment, simplifying the connection and installation with the branches and foundation, and reducing assembly errors; the fixed platform N adopts a triangular shape and uses the same shape as the moving platform M. It is smaller than the fixed platform N, has a stable structure, and is not easily deformed when the moving platform moves at high speed or is under load, ensuring positioning accuracy.
[0037] Further, refer to Figure 9 The end effector 8 is a cutting tool, with two support pillars welded to both sides of the cutting tool and connected to the rotating frame.
[0038] Furthermore, the first motor 4, the second motor 5, and the third motor 6 are stepper motors, while the fourth motor 7 and the fifth motor 10 are servo motors.
[0039] The working principle of this utility model is as follows: The parallel section of this hybrid robot adopts a symmetrical structural design. Its core components include a fixed platform N, a moving platform M, and three identical simple branches evenly distributed at 120° intervals. Each simple branch is formed by a link, a prismatic joint P, and a revolute joint R. The prismatic joints of each branch slide up and down along a vertical guide rail. The upper end of the link in the branch is connected to the fixed platform N via a combination of a revolute joint and a prismatic joint, and the lower end is connected to the moving platform M via a revolute joint, realizing the movement of the tool along the X, Y, and Z axes. The serial section consists of a rotating frame on the vertical moving platform and a horizontally oscillating tool. In addition, the rotating frame is connected to the spindle of a fourth motor on the moving platform, and the tool rotates around the X and Z axes in cooperation with the rotating frame.
[0040] It should be noted that the sliding pairs P11, P22, and P33, the rotary pair R42 driven by the fourth motor 7, and the rotary pair R41 on the rotating frame should all be driving pairs.
[0041] Compared to traditional hybrid robots, this invention abandons the complex design of multiple superimposed mechanisms in its structural design. All three branches adopt a PUU structure and are evenly distributed at 120°. Each branch forms a parallelogram mechanism through four sets of revolute joints, simplifying the overall configuration and greatly enhancing the strength and rigidity of the mechanism. This design solves the problem of "complex structure leading to difficult assembly" in traditional equipment, and further improves load-bearing capacity and reduces the risk of deformation during high-speed movement through the combination of a triangular fixed platform and a moving platform. In terms of cost control, the standardized branch design reduces the difficulty of component processing. The core drive uses a mature combination of stepper motors and linear slide modules, as well as servo motors to drive the cutting tools, avoiding dependence on imported high-end components. This significantly reduces both equipment manufacturing and maintenance costs, making it more acceptable to small and medium-sized enterprises. Regarding performance adaptability, its kinematic model has lower coupling, and stable output of the moving platform can be achieved through the coordinated movement of the three branches, resulting in higher trajectory control accuracy.
[0042] As can be seen from the above technical solution, this utility model uses a parallelogram mechanism composed of four sets of revolute joints, which greatly enhances the strength and rigidity of the mechanism. Each branch can be regarded as a PUU structure, and the coupling effect of three simple branches constitutes the output motion of the moving platform M. The three simple branches connect the fixed platform and the moving platform to construct a parallel mechanism, and the rotating frame of the vertical moving platform and the horizontally swinging tool form a series mechanism. This structure is simple and can realize the movement of the tool along the X, Y, and Z axes and the rotation around the X and Z axes, with a total of five degrees of freedom. It can be used for the machining of complex curved surfaces in industry and is a new type of hybrid mechanism that can help with processing and manufacturing.
[0043] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A five-degree-of-freedom hybrid industrial robot, comprising a fixed platform (N), a moving platform (M), and an end effector (8), characterized in that, Also includes: Three sets of linear slide modules, arranged in parallel, are fixed at the three corners of the fixed platform (N); Three simple branches are arranged in a one-to-one correspondence with three linear slide modules, and one end of each simple branch is connected to the slide (Q13) of the corresponding linear slide module. The kinematic pairs at the other end of each simple branch are connected to the three corners of the moving platform (M). The three linear slide modules provide power, and the composite motion of the simple branches constitutes the movement of the moving platform (M) along the X, Y, and Z axes. The fourth motor (7) and the rotating frame (9) are arranged on opposite sides of the moving platform (M), with the fourth motor (7) arranged closer to the fixed platform (N); A rotating frame (9) is mounted on the side away from the fourth motor (7) with an end effector (8) that is rotated and driven to rotate by a fifth motor (10); the fourth motor (7) fixed on the moving platform (M) provides power to drive the rotating frame (9) to rotate around the Z-axis.
2. The five-degree-of-freedom hybrid structure industrial robot according to claim 1, characterized in that, The slide (Q13) in the three linear slide modules, together with the lead screw in the corresponding linear slide module, forms prismatic joints P11, P22, and P33, which are kinematic joints at one end of three simple chains; the kinematic joints at the other end of the three simple chains connected to the three corners of the moving platform (M) are revolute joints.
3. The five-degree-of-freedom hybrid structure industrial robot according to claim 1, characterized in that, The three simple branches are simple branch I, simple branch II, and simple branch III. Simple branch I, simple branch II, and simple branch III have the same structure and do not intersect.
4. The five-degree-of-freedom hybrid structure industrial robot according to claim 3, characterized in that, Described using a simple branch I: The simple branch I forms a parallelogram mechanism through two sets of first connecting blocks (Q11), second connecting blocks (Q12), and first connecting rods (L11). The first set of first connecting blocks (Q11), first connecting rods (L11), and second connecting blocks (Q12) are connected in sequence to form the first side of the parallelogram mechanism. The second set of first connecting blocks (Q11), first connecting rods (L11), and second connecting blocks (Q12) are connected in sequence to form the second side of the parallelogram mechanism, and the second side and the first side are opposite to each other. The first ends of the first and second sides are connected to the slide to form the third side of the parallelogram mechanism. The second ends of the first and second sides are connected to a corner of the moving platform (M) to form the fourth side of the parallelogram mechanism, and the fourth side and the third side are opposite to each other.
5. The five-degree-of-freedom hybrid structure industrial robot according to claim 4, characterized in that, Described using the first side of simple branch I: one end of the first connecting rod (L11) is connected to the first connecting block (Q11) to form a revolute joint R12, the first connecting block (Q11) is connected to the slide (Q13) to form a revolute joint R11, the other end of the first connecting rod (L11) is connected to the second connecting block (Q12) to form a revolute joint R13, and the second connecting block (Q12) is connected to one corner of the moving platform (M) to form a revolute joint R14.