Five-degree-of-freedom hybrid robot

Abstract

A five-degree-of-freedom hybrid robot, comprising two pairs of fixed supports, three rotary frames, a rotation constraint mechanism, three telescopic legs, a moving platform, and a two-degree-of-freedom swinging head connected in series with the moving platform, wherein first and second fixed supports are parallel to each other and symmetrically arranged, and are respectively rotationally connected to first and second rotary frames; the second rotary frame is rotationally connected to a third rotary frame; a first and a second telescopic leg are coplanar, are symmetrically arranged on the first rotary frame, and are rotationally connected to the first rotary frame and the moving platform; a third telescopic leg is rotationally connected to the third rotary frame and the moving platform; and the rotation constraint mechanism is arranged between the first and second rotary frames, and the mechanism causes a rotation axis between the second and third rotary frames to always be perpendicular to a plane where the first and second telescopic legs are located. The three telescopic legs have the same structure, and the whole equipment system has a high degree of modularization, guaranteed ease of manufacturing and assembly precision, high stiffness, a clear motion form, and easy controllability.

Description

A five-degree-of-freedom hybrid robot Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a five-degree-of-freedom hybrid robot. Background Technology

[0002] Hybrid robots combine the advantages of serial and parallel mechanisms in terms of workspace, speed, and rigidity. They feature high flexibility, high rigidity, and a large workspace, giving them a significant advantage in machining complex curved surface structures. They are widely used in aerospace, rail transportation, automotive, and shipbuilding industries.

[0003] Patent US20130087004A1 discloses a five-DOF hybrid robot, including a parallel mechanism and a two-DOF swing head. The parallel mechanism includes a static platform, a rotating frame, a moving platform, a two-DOF swing head, and three telescopic legs. The rotating frame is hinged to the static platform via a revolute joint. The first and second telescopic legs are symmetrically arranged in space relative to the third telescopic leg. One end of each of the first and second telescopic legs is connected to the rotating frame via a revolute joint, and the other end is also connected to the moving platform via a revolute joint. One end of the third telescopic leg is connected to the static platform via a ball joint composed of three revolute joints, and the other end is connected to the moving platform via a revolute joint.

[0004] The hybrid robot can use the same structure for only the first and second telescopic legs. To ensure the ball joint is realized at the static platform, the third telescopic leg also needs to provide a rotational degree of freedom around the direction of movement of the telescopic leg. Moreover, the axis of rotation of this third telescopic leg needs to intersect the two rotation axes on the rotating frame connected to the third telescopic leg at a single point. The structure is complex and has stringent requirements for processing and assembly.

[0005] The parallel part of the hybrid robot is a parallel mechanism with one translational, two rotational, and three degrees of freedom. The moving platform has two rotational degrees of freedom, but the end posture of the robot's third telescopic leg is determined by the coupled motion of the three rotational pairs that make up the ball joint. Moreover, the third telescopic leg has a different structure from the first and second telescopic legs, making the motion analysis more complex. Summary of the Invention

[0006] The purpose of this invention is to propose a modular, high-rigidity, clearly defined motion pattern, low manufacturing cost, and easy-to-guarantee manufacturing and assembly precision five-degree-of-freedom hybrid robot.

[0007] The technical solution adopted by this invention to solve the technical problems existing in the prior art is as follows:

[0008] 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 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 rotating frame 3 is rotatably connected between the first fixed left support and the first fixed right support 1, and 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 has a through-hole... A third rotating frame 5 is rotatably connected to the frame rotating joint 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 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 joint 1-5 is always perpendicular to the plane where the first telescopic leg 7 and the second telescopic leg 8 are located.

[0009] Furthermore, the rotation constraint mechanism includes a connector, one end of which is rotatably connected to the first rotating frame and the other end of which is rotatably connected to the second rotating frame, together forming a composite frame structure based on the principle of a parallelogram mechanism, which constrains the relative rotation between the first and second rotating frames.

[0010] Further, 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 rotating frame and the first lug form a first revolute joint of the telescopic leg; the first lug and the first movable rod form a first sliding joint; and the front end of the first movable rod and the moving platform form a second revolute joint of the telescopic leg. The first rotating frame and the second lug form a third revolute joint of the telescopic leg; the second lug and the second movable rod form a second sliding joint; and the front end of the second movable rod and the moving platform form a fourth revolute joint of the telescopic leg. The third rotating frame and the third lug form a fifth revolute joint of the telescopic leg; the third lug and the third movable rod form a third sliding joint; and the front end of the third movable rod and the moving platform form a sixth revolute joint of the telescopic leg. The axes of the first, second, third, and fourth revolute joints of the telescopic leg are parallel to each other; the axis of the first sliding joint intersects perpendicularly with the axes of the first and second revolute joints of the telescopic leg, respectively; the axis of the second sliding joint intersects perpendicularly with the axes of the third and fourth revolute joints of the telescopic leg, respectively; and the axes of the first rotating frame, the first revolute joint, and the first sliding joint of the telescopic leg converge at a single point. The axis of the first rotating frame, the axis of the third rotating joint of the telescopic leg, and the axis of the second sliding joint intersect at another point; the axis of the first rotating frame intersects perpendicularly with the axes of the first and third rotating joints of the telescopic leg, respectively. The axes of the first and second sliding joints form the front plane A.

[0011] The fifth and sixth rotational joint axes of the telescopic leg are parallel to each other; the third traverse joint axis intersects perpendicularly to the fifth and sixth rotational joint axes of the telescopic leg, respectively; the frame rotational joint axis intersects the fifth and third traverse joint axes of the telescopic leg at a single point, and the frame rotational joint axis is perpendicular to the fifth rotational joint axis of the telescopic leg. The sixth rotational joint axis of the telescopic leg intersects perpendicularly to the second and fourth rotational joint axes of the telescopic leg, respectively.

[0012] Furthermore, the left and right ends of the first rotating frame and the first fixed support form a first rotating joint of the rotating frame; the left and right ends of the second rotating frame and the second fixed support form a second rotating joint of the rotating frame; the first rotating frame and one end of the connecting member form a third rotating joint of the rotating frame; and the second rotating frame and the other end of the connecting member form a fourth rotating joint of the rotating frame. The axes of the first, second, third, and fourth rotating joints of the rotating frame are parallel to each other. The distance between the axes of the first and second rotating joints of the rotating frame is the same as the distance between the axes of the third and fourth rotating joints of the rotating frame, and the distance between the axes of the first and third rotating joints of the rotating frame is the same as the distance between the axes of the second and fourth rotating joints 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 frame's rotating joints is always parallel to the axes of the first and third rotating joints of the telescopic legs, that is, the axis of the frame's rotating joints is always perpendicular to the front plane A.

[0013] Furthermore, the two-degree-of-freedom oscillating head includes a first oscillating joint and a second oscillating joint. The first oscillating joint forms a first revolute joint of the oscillating head with the moving platform, and the second oscillating joint forms a second revolute joint of the oscillating head with the first oscillating joint. The axis of the first revolute joint of the oscillating head is perpendicular to the plane formed by the axes of the second and fourth revolute joints of the telescopic leg; the axis of the second revolute joint of the oscillating head is parallel to the plane formed by the axes of the second and fourth revolute joints of the telescopic leg.

[0014] Furthermore, the first, second, and third moving parts are all drive parts.

[0015] The beneficial effects of this invention are as follows:

[0016] The hybrid robot of the present invention has a high degree of modularity and adopts a rotation constraint mechanism, especially a composite frame structure based on the principle of parallelogram mechanism, which realizes motion decoupling of the end posture of the third telescopic leg, with clear motion form and easy control.

[0017] The first, second, and third telescopic legs of this invention have identical structures, good interchangeability, simplified structural design, and reduced manufacturing costs.

[0018] The parallel component of this invention is a three-degree-of-freedom parallel mechanism consisting of one translational and two rotational motions. A two-degree-of-freedom oscillating head is connected in series at the end of the moving platform to form a five-degree-of-freedom hybrid robot. The robot's three telescopic legs have identical structures. The entire equipment system has a high degree of modularity, is easy to manufacture and assemble with high precision, has high rigidity, clear motion patterns, and is easy to control. Attached Figure Description

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

[0020] Figure 2 is a schematic diagram of the kinematic pairs of a five-degree-of-freedom hybrid robot according to the present invention;

[0021] Figure 3 is a schematic diagram of the rotation constraint mechanism in this invention;

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

[0023] Figure 5 is a schematic diagram of the first and second telescopic legs and related connections of the present invention;

[0024] Figure 6 is a schematic diagram of the third telescopic leg and related connections of the present invention.

[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. Rotation constraint mechanism; 6a. Connector; 7. First telescopic leg; 7a. First lug; 7b. First moving rod; 8. Second telescopic leg; 8a. Second lug; 8b. Second moving rod; 9. Third telescopic leg; 9a. Third 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 joint of the rotating frame; 1-2. Second rotating joint of the rotating frame; 1-3. Third rotating joint of the rotating frame; 1-4. Fourth rotating joint of the rotating frame; 1-5. Rotating joint of the frame; 2-1. First rotating joint of the telescopic leg; 2-2. Second rotating joint of the telescopic leg; 2-3. Third rotating joint of the telescopic leg; 2-4. Fourth rotating joint of the telescopic leg; 2-5. Fifth rotating joint of the telescopic leg; 2-6. Sixth rotating joint of the telescopic leg; 3-1. First sliding joint; 3-2. Second sliding joint; 3-3. Third sliding joint; 4-1. First rotating joint of the swing head; 4-2. Second rotating joint of the swing head; A. The plane containing the axis of the first sliding joint and the axis of the second sliding joint. Detailed Implementation

[0027] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention and showing the components relevant to the invention. Directions and references are used only to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be limiting, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0028] As shown in Figures 1 and 2, 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 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 rotating frame 3 is rotatably connected between the first fixed left support and the first fixed right support 1, and the second rotating frame 4 is rotatably connected between the second fixed left support and the second fixed right support 2. The third rotating frame 5 is rotatably connected to the second rotating frame 4 through a frame rotating joint 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 is rotatably connected to the moving platform 10. 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 is rotatably connected to the moving platform 10.

[0029] A rotation constraint mechanism 6 is provided between the first rotating frame 3 and the second rotating frame 4. 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, as shown in Figures 3 and 4, a specific embodiment of the rotation constraint mechanism 6 is provided: the rotation constraint mechanism 6 adopts a connector 6a, one end of the connector 6a is rotatably connected to the first rotating frame 3, and the other end is rotatably connected to the second rotating frame 4, together forming a composite frame structure based on the principle of a parallelogram mechanism, constraining the relative rotation between the first rotating frame 3 and the second rotating frame 4.

[0031] Preferably, as shown in Figures 5 and 6, 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 revolute joint 2-1 of the telescopic leg. The first lug 7a and the first moving rod 7b form the first sliding joint 3-1. The front end of the first moving rod 7b and the moving platform 10 form the second revolute joint 2-2 of the telescopic leg. The first rotating frame 3 and the second lug 8a form the third revolute joint 2-3 of the telescopic leg. The second lug 8a and the second moving rod 8b form the second sliding joint 3-2. The front end of the second moving rod 8b and the moving platform 10 form the fourth revolute joint 2-4 of the telescopic leg. The third rotating frame 5 and the third lug 9a form the fifth revolute joint 2-5 of the telescopic leg. The third lug 9a and the third moving rod 9b form the third sliding joint 3-3. The front end of the third moving rod 9b and the moving platform 10 form the sixth revolute joint 2-6 of the telescopic leg.

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

[0034] The first moving joint 3-1 axis and the second moving joint 3-2 axis form the front plane A.

[0035] The axis of the fifth revolute joint 2-5 of the telescopic leg is parallel to the axis of the sixth revolute joint 2-6 of the telescopic leg; the axis of the third prismatic joint 3-3 intersects perpendicularly with the axes of the fifth revolute joint 2-5 and the sixth revolute joint 2-6 of the telescopic leg, respectively; the axis of the frame revolute joint 1-5 intersects at a point with the axes of the fifth revolute joint 2-5 and the third prismatic joint 3-3 of the telescopic leg, and the axis of the frame revolute joint 1-5 is perpendicular to the axis of the fifth revolute joint 2-5 of the telescopic leg.

[0036] The axis of the sixth revolute joint 2-6 of the telescopic leg intersects perpendicularly with the axis of the second revolute joint 2-2 and the axis of the fourth revolute joint 2-4 of the telescopic leg, respectively.

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

[0038] The axes of the first rotating joint 1-1, the second rotating joint 1-2, the third rotating joint 1-3, and the fourth rotating joint 1-4 of the rotating frame are parallel to each other. The distance between the axes of the first rotating joint 1-1 and the second rotating joint 1-2 is the same as the distance between the axes of the third rotating joint 1-3 and the fourth rotating joint 1-4. The distance between the axes of the first rotating joint 1-1 and the third rotating joint 1-3 is the same as the distance between the axes of the second rotating joint 1-2 and the fourth rotating joint 1-4. 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, ensuring that the axis of the frame rotating joint 1-5 is always parallel to the axes of the first rotating joint 2-1 and the third rotating joint 2-3 of the telescopic leg, that is, the axis of the frame rotating joint 1-5 is always perpendicular to the front plane A.

[0039] Preferably, as shown in Figures 1 and 2, 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 first revolute joint 4-1 with the moving platform 10, and the second swing joint 11b forms a second revolute joint 4-2 with the first swing joint 11a. The axis of the first revolute joint 4-1 is perpendicular to the plane formed by the axes of the second revolute joint 2-2 and the fourth revolute joint 2-4 of the telescopic leg; the axis of the second revolute joint 4-2 is parallel to the plane formed by the axes of the second revolute joint 2-2 and the fourth revolute joint 2-4 of the telescopic leg.

[0040] Preferably, the first moving joint 3-1, the second moving joint 3-2, and the third moving joint 3-3 are all drive joints.

[0041] The terms “connected” and “linked” used in this invention should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; they can refer to direct connections or indirect connections 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, It 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 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 by the first rotating frame (3), and the second fixed left support and the second fixed right support (2) are rotatably connected by the second rotating frame (4); the second rotating frame (4) rotates through the frame rotating joint (1-5). A third rotating frame (5) is dynamically connected; a first telescopic leg (7) and a 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 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.

2. The five-degree-of-freedom hybrid robot according to claim 1, characterized in that, The rotation constraint mechanism uses a connector. One end of the connector is rotatably connected to the first rotating frame, and the other end of the connector is rotatably connected to the second rotating frame. Together, they form a composite frame structure based on the principle of a parallelogram mechanism, which constrains 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 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 rotating frame and the first lug form a first revolute joint of the telescopic leg; the first lug and the first moving rod form a first sliding joint; the front end of the first moving rod and the moving platform form a second revolute joint of the telescopic leg; the first rotating frame and the second lug form a third revolute joint of the telescopic leg; the second lug and the second moving rod form a second sliding joint; the front end of the second moving rod and the moving platform form a fourth revolute joint of the telescopic leg; the third rotating frame and the third lug form a fifth revolute joint of the telescopic leg; the third lug and the third moving rod form a third sliding joint; the front end of the third moving rod and the moving platform form a sixth revolute joint of the telescopic leg. The axes of the first, second, third, and fourth revolute joints of the telescopic leg are parallel to each other; the axis of the first prismatic joint intersects perpendicularly with the axes of the first and second revolute joints of the telescopic leg, respectively. The second sliding joint axis intersects perpendicularly with the third and fourth rotating joint axes of the telescopic leg, respectively; the first rotating frame axis, the first rotating joint axis of the telescopic leg, and the first sliding joint axis intersect at one point; the first rotating frame axis, the third rotating joint axis of the telescopic leg, and the second sliding joint axis intersect at another point; the first rotating frame axis intersects perpendicularly with the first rotating joint axis of the telescopic leg and the third rotating joint axis of the telescopic leg, respectively. The first and second sliding sub-axis axes constitute the front plane A; The axes of the fifth and sixth rotary joints of the telescopic leg are parallel to each other; the axis of the third sliding joint intersects the axes of the fifth and sixth rotary joints of the telescopic leg perpendicularly, respectively; the axis of the frame rotary joint intersects the axis of the fifth rotary joint and the axis of the third sliding joint of the telescopic leg at a point, and the axis of the frame rotary joint is perpendicular to the axis of the fifth rotary joint of the telescopic leg. The axis of the sixth rotating joint of the telescopic leg intersects perpendicularly with the axes of the second and fourth rotating joints 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 rotating frame form a first rotating pair with the first fixed left support and the first fixed right support, respectively. The left and right ends of the second rotating frame form a second rotating pair with the second fixed left support and the second fixed right support, respectively. The first rotating frame and one end of the connecting member form a third rotating pair. The second rotating frame and the other end of the connecting member form a fourth rotating pair. The axes of the first, second, third, and fourth rotating joints of the rotating frame are parallel to each other; the distance between the axes of the first and second rotating joints is the same as the distance between the axes of the third and fourth rotating joints; the distance between the axes of the first and third rotating joints is the same as the distance between the axes of the second and fourth rotating joints; the first rotating frame, the connector, 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 frame's rotating joints is always parallel to the axes of the first and third rotating joints of the telescopic legs.

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

6. A five-degree-of-freedom hybrid robot according to claim 3, characterized in that, The first, second, and third moving parts are all drive parts.

Images