CN106584432A - Five degree-of-freedom serial-parallel robot - Google Patents

Abstract

The invention discloses a five-degree-of-freedom series-parallel robot, which includes a two-degree-of-freedom parallel mechanism and a three-degree-of-freedom series mechanism connected to each other, and the two-degree-of-freedom parallel mechanism is used to provide a three-degree-of-freedom series mechanism to perform linear motion and rotation The driving force of the movement. The five-degree-of-freedom serial-parallel robot of the present invention combines a two-degree-of-freedom parallel mechanism with a three-degree-of-freedom serial mechanism, fully utilizes the advantages of high rigidity, high precision, and large load of the parallel mechanism, and uses the series mechanism to make up for the small working space of the parallel mechanism. Disadvantages, it has the characteristics of good structural stability, strong carrying capacity, and large working space, which expands the application range of robots.

Description

Five-degree-of-freedom series-parallel robot

technical field

The invention belongs to the field of robot technology, in particular, the invention relates to a five-degree-of-freedom series-parallel robot.

Background technique

A series-parallel robot, also known as a hybrid robot, refers to a complex mechanical system that includes at least one parallel mechanism and one or more serial mechanisms combined in a certain way. The hybrid mechanism is a combination of series and parallel mechanisms. It can comprehensively inherit the excellent properties of the parallel mechanism and the series mechanism, and provide a better performance balance between the two. It is more practical in modern manufacturing. It has been applied in welding, painting, handling, automobile assembly, medical treatment and other fields.

The existing series-parallel robots have poor stability and reliability, small working space, and difficult to realize pose control.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention provides a five-degree-of-freedom series-parallel robot, the purpose of which is to improve the working space.

In order to achieve the above object, the technical solution adopted by the present invention is: a five-degree-of-freedom series-parallel robot, including a connected two-degree-of-freedom parallel mechanism and a three-degree-of-freedom series mechanism, and the two-degree-of-freedom parallel mechanism is used to provide the three-degree-of-freedom series mechanism The driving force to make it do linear motion and rotary motion.

The two-degree-of-freedom parallel mechanism includes a two-axis fixed part and a two-nut part connected with the two-axis fixed part and forming a screw drive.

The one-two-axis fixed part includes a first motor and a two-axis screw connected with the first motor and the one-two nut parts.

The one-two-axis fixed part also includes a lower rail slidingly connected with the three-degree-of-freedom series mechanism, and the lower rail is located below the one-two-axis screw and parallel to each other.

The three-degree-of-freedom series mechanism includes a three-axis slider that is slidably connected to the two-degree-of-freedom parallel mechanism, a Z-axis slider assembly that is rotatably arranged on the three-axis slider, and a Z-axis slider assembly and the one-two Slider assembly connected to the nut part.

The slider assembly is rotationally connected with the one and two nut parts and is slidably connected with the Z-axis slide assembly.

The first and second nut parts include a transition sleeve, a ball nut arranged on the transition sleeve and connected to the one and two shaft screws, and a rotating shaft arranged on the transition sleeve and rotatably connected to the slider assembly.

The axis of the rotating shaft is parallel to the rotation centerline of the Z-axis slide assembly.

The slider assembly includes a slider connecting plate, an upper slider arranged on the slider connecting plate and slidably connected with the Z-axis slider assembly, and a bushing arranged on the slider connecting plate, the bushing has a function to allow the One or two shaft holes for nuts to be inserted into.

The three-axis sliding part includes a lower slide and a lower slide arranged on the lower slide and slidingly connected with the two-degree-of-freedom parallel mechanism, and the Z-axis slide assembly is rotatably arranged on the lower slide.

The Z-axis slide assembly includes an upper slide, an upper slide rail disposed on the upper slide and slidably connected to the slide assembly, and a rotatable Z-axis bracket disposed on the three-axis slide and connected to the upper slide .

There are two fixed parts of the first and second axes, and the two fixed parts of the first and second axes are respectively connected to the Z-axis slide plate assembly through one of the first and second nut parts and one of the slider assemblies, and the two slider assemblies are respectively located at One side of the Z-axis bracket.

The Z-axis slide assembly also includes a motor bracket disposed on the upper slide, a second motor disposed on the motor bracket, a Z-axis screw connected to the second motor, and a ball connected to the Z-axis screw to form a screw transmission. nuts.

The three-degree-of-freedom series mechanism also includes a four-axis assembly and a five-axis assembly connected in sequence, the four-axis assembly is connected to the Z-axis slide assembly, and the Z-axis slide assembly is used to provide a drive for the four-axis assembly to perform linear motion force.

The Z-axis slide assembly further includes a guide shaft slidingly connected with the Z-axis support, the guide shaft is connected with the ball nut and the four-axis assembly, and the ball nut is arranged inside the Z-axis support.

There are multiple guide shafts.

The four-axis assembly includes a cross arm connected with the Z-axis slide assembly, a third motor arranged on the cross arm, and a harmonic reducer connected with the third motor and the five-axis assembly.

The length direction of the cross arm is perpendicular to the axis of the third motor, and the axis of the third motor is parallel to the rotation centerline of the Z-axis slide assembly.

The five-axis assembly includes a small arm connected with the four-axis assembly, a fourth motor arranged on the small arm, and a harmonic reducer connected with the fourth motor and the end effector.

An included angle between the axis of the fourth motor and the axis of the third motor is an acute angle.

The included angle between the axis of the fourth motor and the axis of the third motor is 45 degrees.

The small arm includes a first arm body connected to the four-axis assembly and a second arm body connected to the first arm body, and the angle between the first arm body and the second arm body is an acute angle.

The included angle between the first arm body and the second arm body is 45 degrees.

The length direction of the first arm body is perpendicular to the axis of the third motor, and the length direction of the second arm body is perpendicular to the axis of the fourth motor.

The five-degree-of-freedom serial-parallel robot of the present invention combines a two-degree-of-freedom parallel mechanism with a three-degree-of-freedom serial mechanism, fully exerts the advantages of the parallel mechanism's high rigidity, high precision, and large load, and uses the series mechanism to make up for the small working space of the parallel mechanism. Disadvantages, it has the characteristics of good structural stability, strong carrying capacity, and large working space, which expands the application range of robots.

Description of drawings

This manual includes the following drawings, the contents shown are:

Fig. 1 is a structural representation of a five-degree-of-freedom series-parallel robot of the present invention;

Fig. 2 is the front view of the five-degree-of-freedom series-parallel robot of the present invention;

Fig. 3 is the top view of the five-degree-of-freedom series-parallel robot of the present invention;

Fig. 4 is a structural schematic diagram of a two-axis solid part;

Fig. 5 is a schematic structural view of the first and second nut parts;

Fig. 6 is the structural representation of slider assembly;

Figure 7 is a sectional view of the slider assembly;

Fig. 8 is a structural schematic diagram of a three-axis sliding part;

Fig. 9 is an assembly drawing of the Z-axis support and the upper slide plate;

Fig. 10 is a structural schematic diagram of a four-axis assembly;

Fig. 11 is a partial sectional view of the four-axis assembly;

Figure 12 is a schematic structural view of a five-axis assembly;

Figure 13 is a schematic structural view of the forearm;

Figure 14 is a schematic structural view of the end effector;

Fig. 15 is a schematic diagram of the principle of a two-degree-of-freedom parallel mechanism;

Fig. 16 is a schematic diagram of the principle of a three-degree-of-freedom series mechanism;

Labeled in the figure:

1. Rack;

2. The first and second axis fixed parts; 201, the first motor; 202, the first and second axis screw; 203, the lower rail; 204, the motor bracket; 205, the screw bracket;

3. One and two nut parts; 301, transition sleeve; 302, rotating shaft; 303, ball nut;

4. Slider assembly; 401, slider connecting plate; 402, upper slider; 403, shaft sleeve;

5. Three-axis sliding part; 501, lower slide; 502, lower slide; 503, upper slide; 504, upper slide rail; 505, Z-axis support; 506, second motor; 507, motor support; 508, Z-axis Screw; 509, guide shaft;

6. Four-axis assembly; 601, cross arm; 602, third motor; 603, harmonic reducer;

7. Five-axis assembly; 701, first arm body; 702, second arm body; 703, fourth motor; 704, harmonic reducer;

8. End effector; 801, actuator bracket; 802, actuator body.

detailed description

The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

As shown in Figures 1 to 3, the present invention provides a five-degree-of-freedom serial-parallel robot, including a frame 1, a two-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial mechanism, and a two-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial mechanism The two-degree-of-freedom parallel mechanism is used to provide driving force for the three-degree-of-freedom series mechanism to perform linear motion and rotational movement, and the three-degree-of-freedom series mechanism can perform translational and rotational movements as a whole.

Specifically, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, the two-degree-of-freedom parallel mechanism includes a two-axis solid part 2 and a two-axis nut part 3 connected with the two-axis solid part 2 and forming a screw transmission . A two-axis fixed part 2 is arranged on the frame 1, and a two-axis fixed part 2 is the basic connection part of the whole robot. A two-axis fixed part 2 mainly includes a motor bracket 204, a first motor 201, and the first motor 201 and A two-axis screw 202 and a screw bracket 205 connected by the two nut parts 3, the motor bracket 204 is fixedly arranged on the frame 1, the first motor 201 is fixedly installed on the motor bracket 204, and the first motor 201 is a servo motor. The motor bracket 204 and the screw bracket 205 are oppositely arranged, and one end of a two-axis screw rod 202 is connected with the motor shaft of the first motor 201 through a coupling, and the other end of a two-axis screw rod 202 is rotatably arranged on the screw rod bracket 205 . The first and second nut parts 3 are sleeved on the first and second shaft screw rods 202, and the two form a screw transmission. The first motor 201 runs, drives the first and second shaft screw rods 202 to rotate through the coupling, and then drives the three degrees of freedom through the first and second nut parts 3 The tandem mechanism makes linear motion as a whole.

As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a two-axis fixed part 2 also includes a sliding rail 203 which is slidingly connected with a three-degree-of-freedom series mechanism, and the sliding rail 203 is located below a two-axis screw rod 202 and both Parallel to each other, the sliding rail 203 is fixedly arranged on the frame 1 and is located between the motor support 204 and the screw support 205. The sliding rail 203 guides the three-degree-of-freedom series mechanism when the three-degree-of-freedom series mechanism moves linearly as a whole.

As shown in Figures 1 to 3, the three-degree-of-freedom series mechanism includes a three-axis sliding part 5 that is slidingly connected to a two-axis solid part 2 of a two-degree-of-freedom parallel mechanism, and a rotatable three-axis sliding part 5 that is arranged on the three-axis sliding part 5. The Z-axis slide assembly and the slide block assembly 4 connected with the Z-axis slide assembly and the first and second nut parts 3 , the rotation centerline of the Z-axis slide assembly is perpendicular to the axes of the first and second screw rods 202 .

The slider assembly 4 is rotationally connected with the one and two nut parts 3 and is slidably connected with the Z-axis slide assembly. As shown in Figure 5, the first and second nut parts 3 include a transition sleeve 301, a ball nut 303 fixedly arranged on the transition sleeve 301 and connected with a two-axis screw 202, and fixedly arranged on the transition sleeve 301 and rotating with the slider assembly 4 Connected shaft 302 . The rotating shaft 302 is a circular shaft and protrudes toward the outside of the transition sleeve 301 , the axis of the rotating shaft 302 is parallel to the rotation centerline of the Z-axis slide assembly, and the axis of the rotating shaft 302 intersects and is perpendicular to the axis of the ball nut 303 . The ball nut 303 is sheathed on the first and second shaft screws 202, and the two form a screw drive.

As shown in Figures 6 and 7, the slider assembly 4 includes a slider connecting plate 401, an upper slider 402 fixedly arranged on the slider connecting plate 401 and slidingly connected with the Z-axis slider assembly, and an upper slider 402 fixedly arranged on the slider connecting plate 401. The bushing 403 on the plate 401 has a shaft hole for inserting one or two nut parts 3 and the axis of the shaft hole is parallel to the rotation centerline of the Z-axis slide plate assembly. Two upper sliders 402 are arranged on the slider connecting plate 401, and the two upper sliders 402 are symmetrically distributed on both sides of the shaft sleeve 403 with the axis of the shaft sleeve 403 as the line of symmetry. The slider assembly 4 passes through the upper slider 402 and Z The axis slide assembly is slidingly connected, when the first and second axis screw rods 202 rotate to make the one and two nut parts 3 drive the slider assembly 4 to move on the Z axis slide assembly, the Z axis slide assembly can be pushed to rotate on the three axis slide section 5, and The moving direction of the slider assembly 4 relative to the Z-axis slide assembly is perpendicular to the rotation centerline of the Z-axis slide assembly.

As shown in Figure 1 and Figure 15, two one-two-axis fixed parts 2 are arranged side by side on the frame 1, and the two one-two-axis fixed parts 2 are connected to the Z-axis through one one-two nut part 3 and one slider assembly 4 respectively. The slider assembly is connected, and the two slider assemblies 4 are respectively located on one side of the Z-axis bracket 505. Each slider assembly 4 is connected to a one-two nut part 3 respectively, and each one-two nut part 3 is connected to a one-two shaft solid part 2 respectively. To connect, two one-two-axis fixed parts 2 are symmetrically distributed on both sides of the Z-axis slide assembly. When the one-two-axis solid part 2 is running, by controlling the speed of the two first motors 201 and making there is a speed difference between the two first motors 201, the Z-axis slide assembly can be driven to rotate on the three-axis slide part 5 . When the one-two axis solid part 2 is in operation, by controlling the rotating speed of the two first motors 201 and making the rotating speeds of the two first motors 201 the same, there is no relative motion between the slider assembly 4 and the Z-axis slide assembly, which can drive The three-degree-of-freedom series mechanism performs a translational movement along the slide rail 203 as a whole.

As shown in Figures 1 and 8, the three-axis sliding part 5 includes a lower plate 501 and a lower plate 502 that is arranged on the lower plate 501 and is slidingly connected with the lower rail 203 provided on the two-degree-of-freedom parallel mechanism. The slide assembly is rotatably arranged on the lower slide 501 . The lower sliders 502 are fixedly arranged at both ends of the lower slider 501, and the lower sliders 502 at the two ends of the lower slider 501 respectively slide and cooperate with the lower rails 203 on the two first and second shaft fixed parts 2, and the lower slider 501 is horizontally placed on two opposite sides. Above the parallel lower rail 203 and below the two first and second axis screws 202 , the three-axis slider 5 is driven by the Z-axis slide assembly to move horizontally on the lower rail 203 .

As shown in Figures 1 and 9, the Z-axis slide assembly includes an upper slide 503, an upper slide rail 504 that is arranged on the upper slide 503 and is slidingly connected with the upper slide 402 of the slide assembly 4, and a rotatable set on three The Z-axis bracket 505 on the shaft sliding part 5 and connected with the upper sliding plate 503 . The upper end of the Z-axis support 505 is fixedly connected with the upper slide plate 503, the center of the lower plate 501 is provided with a through hole for the Z-axis support 505 to pass through, and a bearing is arranged between the Z-axis support 505 and the lower plate 501, and the lower plate 501 Provide support for the Z-axis support 505 in the vertical direction. The upper slide 503 is located above the lower slide 501, the upper slide rails 504 are arranged at both ends of the upper slide 503 and two parallel upper slide rails 504 are arranged at both ends of the upper slide 503, symmetrically distributed on both sides of the Z-axis support 505 The two upper sliders 402 of the two slider assemblies 4 are respectively in sliding fit with the two upper slide rails 504 arranged at one end of the upper slide plate 503 .

As shown in Figures 1 and 9, the Z-axis slide assembly also includes a motor bracket 507 fixedly disposed on the upper slide 503, a second motor 506 disposed on the motor bracket 507, and a Z-axis screw 508 connected to the second motor 506 It is connected with the Z-axis screw rod 508 and constitutes a ball nut (not shown in the figure) that drives the screw. Both the upper slide 503 and the lower slide 501 are arranged along the horizontal direction. The Z-axis bracket 505 is a hollow cylindrical structure. The motor bracket 507 is fixedly arranged on the top surface of the upper slide 503. It is fixedly connected and stretches out toward the bottom of the upper slide plate 503 in the vertical direction and passes through the lower plate 501. The second motor 506 is a servo motor and is vertically arranged on the motor bracket 507. The Z-axis screw 508 is arranged on the motor bracket 507 and Inside the Z-axis bracket 505, one end of the Z-axis screw rod 508 is connected with the motor shaft of the second motor 506 through a coupling, and the other end of the Z-axis screw rod 508 is rotatably arranged on the Z-axis bracket 505, and the Z-axis bracket 505 It is arranged coaxially with the Z-axis screw 508 , and the axis of the Z-axis bracket 505 (that is, the rotation centerline of the Z-axis slide assembly) is perpendicular to the axis of a two-axis screw 202 in space. The ball nut arranged inside the Z-axis bracket 505 is sleeved on the Z-axis screw 508 and the two form a screw transmission. The second motor 506 runs and drives the Z-axis screw 508 to rotate through the coupling, and then drives the ball nut on the Z-axis bracket. 505 makes linear motion along the vertical direction.

As shown in Figures 1 and 2, the three-degree-of-freedom series mechanism also includes a four-axis assembly 6 and a five-axis assembly 7 connected in sequence, the four-axis assembly 6 is connected to the Z-axis slide assembly, and the Z-axis slide assembly is used to adjust the four-axis assembly 6 provides driving force to make it move in a straight line. The Z-axis slide assembly also includes a guide shaft 509 that is slidingly connected to the Z-axis bracket 505. The guide shaft 509 is also connected to the ball nut disposed in the Z-axis bracket 505 and the four-axis assembly 6, and the ball nut is sleeved on the Z-axis screw rod 508. And the two constitute a screw drive. The axis of the guide shaft 509 is parallel to the axis of the Z-axis bracket 505. Preferably, the guide shaft 509 is provided with a plurality of guide shafts 509 and is evenly distributed around the Z-axis screw rod 508 in the circumferential direction. The guide shaft 509 and the Z-axis The bracket 505 cooperates to guide the ball nut. The upper end of the guide shaft 509 is fixedly connected with the ball nut. The lower end of the guide shaft 509 passes through the linear bearing provided on the bottom cover of the Z-axis bracket 505 and then faces towards the side of the Z-axis bracket 505. The bottom protrudes and is fixedly connected with the four-axis assembly 6 below. When the second motor 506 is running, the Z-axis screw 508 is driven to rotate through the coupling to drive the ball nut to move in a straight line in the vertical direction in the Z-axis bracket 505, and the ball nut drives the guide shaft 509 to move in the vertical direction, and the guide shaft 509 Guided by the linear bearing on the Z-axis bracket 505, the four-axis assembly 6, five-axis assembly 7 and end effector 8 below are driven to move linearly in the vertical direction.

In this embodiment, as shown in FIG. 1 , three guide shafts 509 are provided, and the three guide shafts 509 are evenly distributed around the Z-axis screw 508 along the circumferential direction.

As shown in Fig. 1, Fig. 2, Fig. 10 and Fig. 11, the four-axis assembly 6 includes a cross arm 601 connected with the Z-axis slide assembly, a third motor 602 arranged on the cross arm 601, and a third motor 602 connected with the five The shaft assembly 7 is connected to the harmonic reducer 603 . The cross arm 601 is arranged along the horizontal direction, one end of the cross arm 601 is fixedly connected with the lower end of the guide shaft 509 , and the third motor 602 and the harmonic reducer 603 are fixedly arranged at the other end of the cross arm 601 . The third motor 602 is a servo motor, the length direction of the cross arm 601 is perpendicular to the axis of the third motor 602, and the axis of the third motor 602 is parallel to the rotation centerline of the Z-axis slide assembly. The third motor 602 drives the five-axis assembly 7 to rotate through the harmonic reducer 603. The rotation centerline of the five-axis assembly 7 is perpendicular to the horizontal plane and parallel to the rotation centerline of the Z-axis skateboard assembly; when the Z-axis slide assembly rotates, The four-axis component is driven to rotate in the water surface by the guide shaft 509 .

As shown in Fig. 1, Fig. 2, Fig. 12 and Fig. 13, the five-axis assembly 7 is used to connect the end effector 8, and the five-axis assembly 7 includes a forearm connected with the four-axis assembly 6, a fourth The motor 703 and the harmonic reducer 704 connected with the fourth motor 703 and the end effector 8 . One end of the forearm and the harmonic reducer 603, the fourth motor 703 and the harmonic reducer 704 are fixed on the other end of the forearm, the fourth motor 703 is a servo motor, and the fourth motor 703 drives the end through the harmonic reducer 704 The actuator 8 makes a rotary motion.

As preferably, as shown in Fig. 1, Fig. 2, Fig. 12 and Fig. 13, the small arm includes a first arm body 701 and a second arm body 702, and one end of the first arm body 701 in the length direction is connected to the four-axis assembly 6 The harmonic reducer 603 is fixedly connected, the other end in the length direction of the first arm 701 is fixedly connected with one end in the length direction of the second arm 702, and the fourth motor 703 and the harmonic reducer 704 are fixedly arranged on the second arm 702 the other end in the length direction. The first arm 701 is located below the cross arm 601, the length direction of the first arm 701 is perpendicular to the axis of the third motor 602, the length direction of the second arm 702 is perpendicular to the axis of the fourth motor 703, and the third The axes of the motor 602 and the fourth motor 703 are both in a vertical plane. There is an included angle between the length direction of the first arm body 701 and the length direction of the second arm body 702 and the included angle is an acute angle. The second arm body 702 is inclined relative to the first arm body 701. The second arm body 702 Extending obliquely toward the outer side of the first arm body 701, the small arm formed has a bent structure, so that there is also an angle between the axis of the fourth motor 703 and the axis of the third motor 602, and the angle is the same as that of the first arm. The included angles between the body 701 and the second arm body 702 are equal in size. The forearm is set in a form with a bending structure to change the installation method of the fourth motor 703, so that the fourth motor 703 can be installed in an oblique direction, thereby making the rotation angle of the end effector 8 more flexible, only single-axis Rotation can realize the transformation of the attitude of the end effector 8, which improves the working space.

As preferably, as shown in Fig. 1, Fig. 2, Fig. 12 and Fig. 13, the included angle between the axis of the fourth motor 703 and the axis of the third motor 602 is 45 degrees, and the length direction of the first arm body 701 and The included angle between the length directions of the second arm body 702 is also 45 degrees. When the fourth motor 703 is running, the harmonic reducer 704 drives the end effector 8 to rotate. The angle between the rotation centerline of the end effector 8 and the horizontal plane is 45 degrees. After the end effector 8 rotates 180 degrees, the The attitude can be changed from the setting along the vertical direction shown in FIG. 2 to the setting along the horizontal direction, and the direction of the end effector 8 can be changed from vertical to horizontal only by single-axis rotation, so that the rotation angle of the end effector 8 is flexible.

As shown in FIG. 1 and FIG. 14 , in this embodiment, the end effector 8 mainly includes an actuator bracket 801 and an actuator body 802 , and the actuator body 802 is a part of the end of the robot for linear tasks. One end of the actuator bracket 801 is fixedly connected to the harmonic reducer 704 of the five-axis assembly 7, and the actuator body 802 is fixedly arranged on the other end of the actuator bracket 801, between the axis of the actuator body 802 and the axis of the fourth motor 703 There is an included angle and the size of the included angle is equal to the included angle between the axis of the fourth motor 703 and the axis of the third motor 602, preferably 45 degrees. The axis of the actuator body 802 is perpendicular to the length direction of the actuator bracket 801. In the state shown in FIG. 2, the axis of the actuator body 802 is in a vertical plane and parallel to the axis of the third motor 602. The angle between the axis of 802 and the axis of the fourth motor 703 is 45 degrees. When the fourth motor 703 is running and the end effector 8 is rotated by 180 degrees, the posture of the end effector 8 can be changed from the vertical position shown in FIG. The vertical orientation setting is converted to the horizontal orientation setting.

The five-degree-of-freedom series-parallel robot with the above structure has the following advantages:

1. Combine the two-degree-of-freedom parallel mechanism (one and two axes) with the three-degree-of-freedom series structure (three, four, and five axes), give full play to the advantages of high stiffness, high precision, and large load of the parallel mechanism, and use the series mechanism to make up for the work of the parallel mechanism The disadvantage of small space, the advantages of the two mechanisms complement each other, with the characteristics of good structural stability, strong carrying capacity, and large working space, which expands the application range of robots;

2. The two-degree-of-freedom parallel mechanism has two degrees of freedom, which is easier to control;

3. The two-degree-of-freedom parallel mechanism adopts two branches to simplify the structure and reduce the cost;

4. The specially designed five-axis rotation axis 302 has a 45° angle with the vertical direction, and the 8 end effectors have flexible rotation angles. Only one-axis rotation can realize the transformation of the 8 directions of the end effector from vertical to horizontal, and the pose control is easy to realize .

The present invention has been exemplarily described above with reference to the accompanying drawings. Apparently, the specific implementation of the present invention is not limited by the above methods. As long as various insubstantial improvements are made using the method concept and technical solution of the present invention; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, all within the protection scope of the present invention within.

Claims (9)

1. The five-degree-of-freedom serial-parallel robot is characterized in that: it includes a connected two-degree-of-freedom parallel mechanism and a three-degree-of-freedom serial mechanism, and the two-degree-of-freedom parallel mechanism is used to provide the three-degree-of-freedom serial mechanism to make it do linear motion and rotation The driving force of the movement. 2. The five-degree-of-freedom series-parallel robot according to claim 1, characterized in that: the two-degree-of-freedom parallel mechanism includes a two-axis solid part and a two-nut part connected with the two-axis solid part and forming a screw drive . 3. The five-degree-of-freedom serial-parallel robot according to claim 2, wherein the one-two-axis solid part includes a first motor and a two-axis screw connected with the first motor and the one-two nut part. 4. The five-degree-of-freedom series-parallel robot according to claim 3, characterized in that: the one-two-axis solid part also includes a lower rail slidingly connected with the three-degree-of-freedom series mechanism, and the lower rail is located at the one-two The bottom of the shaft screw and the two are parallel. 5. The five-degree-of-freedom series-parallel robot according to claim 2 or 3, characterized in that: the three-degree-of-freedom series mechanism includes a three-axis sliding part slidingly connected with the two-degree-of-freedom parallel mechanism, a rotatable setting The Z-axis slide assembly on the three-axis slide part and the slide block assembly connected with the Z-axis slide assembly and the one and two nut parts. 6. The five-degree-of-freedom serial-parallel robot according to claim 5, wherein the slider assembly is rotationally connected to the first and second nut parts and is slidingly connected to the Z-axis slide assembly. 7. The five-degree-of-freedom serial-parallel robot according to claim 6, characterized in that: the first and second nut parts include a transition sleeve, a ball nut arranged on the transition sleeve and connected to the first and second shaft screws, and a ball nut arranged on the A rotating shaft on the transition sleeve and rotatably connected with the slider assembly. 8. The five-degree-of-freedom serial-parallel robot according to claim 7, wherein the axis of the rotating shaft is parallel to the rotation centerline of the Z-axis slide assembly. 9. The five-degree-of-freedom serial-parallel robot according to claim 6, wherein the slider assembly includes a slider connecting plate, an upper plate disposed on the slider connecting plate and slidingly connected with the Z-axis slider assembly. The slider and the shaft sleeve arranged on the connecting plate of the slider have a shaft hole through which the one and two nut parts are inserted.