CN109664275B - Five-freedom-degree series-parallel robot based on two-rotation one-movement three-freedom-degree parallel mechanism - Google Patents

Abstract

The invention relates to a five-freedom-degree series-parallel robot based on a two-rotation one-movement three-freedom-degree parallel mechanism, which consists of a two-rotation one-movement three-freedom-degree parallel mechanism and a two-freedom-degree posture adjusting mechanism connected in series with the two-rotation one-movement three-freedom-degree parallel mechanism. The two-rotation one-movement three-freedom-degree parallel mechanism comprises a fixed platform, an upper supporting platform, a lower supporting platform, three branch assemblies, a movable platform assembly and the like, wherein the first branch assembly and the second branch assembly which have the same structure in the three branch assemblies are positioned in the same plane and penetrate through the upper supporting platform and are connected with the upper supporting platform through rotating hinges, and the third branch assembly penetrates through the lower supporting platform and is connected with the lower supporting platform through rotating hinges; the two-degree-of-freedom posture adjusting mechanism comprises a sucker, a C-shaped component fixedly arranged on the sucker and an A-shaped component connected with the C-shaped component through a rotating hinge. The invention has high modularization degree, and the movement planes of the first branch assembly and the second branch assembly are coplanar, so that the inverse solution analysis expression of the mechanism kinematics is beneficial to calculation and is convenient for track planning and real-time control.

Description

Five-freedom-degree series-parallel robot based on two-rotation one-movement three-freedom-degree parallel mechanism

Technical Field

The invention belongs to the field of robots, and particularly relates to a five-degree-of-freedom series-parallel robot based on a two-rotation one-movement three-degree-of-freedom parallel mechanism.

Background

At present, the aerospace composite material complex curved surface is mainly machined by a five-axis milling and boring machine and a series robot in China, the indexes of positioning accuracy, repeated positioning accuracy and the like of a produced product are difficult to meet the design requirements, and the series robot combines the advantages of series robots and parallel robots. Therefore, the parallel-serial robot based on the two-rotation one-movement three-degree-of-freedom 2R1T parallel mechanism has a good development prospect, wherein the parallel-serial robot developed abroad by Tricept, Ecospeed, Execho and the like has been successfully used in the fields of aerospace, automobile processing and the like which need to process complex mechanisms, and remarkable economic benefits are obtained. However, the hybrid robot based on the 2R1T parallel mechanism still has few types, and the only mechanisms have the problem of more number of kinematic pairs, and the structural rigidity is not easy to guarantee.

An over-constrained high-rigidity multi-coordinate hybrid robot disclosed in Chinese patent document CN102699899A, wherein a parallel mechanism part comprises three driving adjusting devices capable of extending or shortening along the axial direction and a driven adjusting device, wherein one driven adjusting branch and two driving branches are positioned in the same plane, and a fixed platform of the parallel mechanism is made into an integral structure; the parallel mechanism can realize two-dimensional rotation in the plane of the fixed platform and one movement vertical to the fixed platform, and is separately connected with a two-freedom-degree actuator in series to realize five-freedom-degree motion. The structure is provided with two vertically crossed rotating shafts, but the number of passive single-degree-of-freedom kinematic pairs existing in each driving branched chain is 5, the number of the kinematic pairs is large, and the structural rigidity is not easy to guarantee.

The five-degree-of-freedom hybrid robot with the multi-axis rotating support disclosed in the chinese patent document CN104985596A also comprises three active adjusting devices and one driven adjusting device which can extend or shorten along the axial direction, wherein one driven adjusting branch and two driving branches are located in the same plane, and the fixed platform of the parallel mechanism is made into a detachable structure and has two rotating supports; the parallel mechanism can also realize two-dimensional rotation in the plane of the fixed platform and one movement vertical to the fixed platform, and is separately connected with a two-freedom-degree actuator in series to realize five-freedom-degree motion. The patent is the isomorphic case of the previous patent, and the type and the number of the kinematic pairs are completely the same.

The five-axis hybrid robot disclosed in chinese patent document CN201710858304.5 is composed of a four-degree-of-freedom hybrid mechanism, and uses a three-degree-of-freedom parallel mechanism to realize the movement along the Z direction and the two-dimensional rotation of the rotating shaft in the fixed platform plane and the movable platform plane, respectively, and then uses an independent module that translates along the Y axis to realize the five-degree-of-freedom motion. The number of the kinematic pairs of the parallel part of the mechanism is less, but the structural rigidity needs to be further improved.

Disclosure of Invention

The invention aims to provide a five-degree-of-freedom hybrid robot with few mechanism kinematic pairs, large working space and less joint over-constraint.

The hybrid robot mechanism of the invention consists of a two-rotation one-movement three-freedom-degree parallel mechanism and a two-freedom-degree attitude adjusting mechanism connected in series with the two-rotation one-movement three-freedom-degree parallel mechanism, comprises a two-rotation one-movement three-freedom-degree parallel mechanism and a two-freedom-degree attitude adjusting mechanism connected in series with the parallel mechanism, wherein the two-rotation one-movement three-freedom-degree parallel mechanism comprises a fixed platform, an upper supporting platform, a lower supporting platform, three branch components and a movable platform component, the first branch component and the second branch component with the same structure in the three branch components are positioned in the same plane and all penetrate through the upper supporting platform, the third branch assembly penetrates through the lower supporting platform and is connected with the lower supporting platform through a rotating hinge, and the upper supporting platform and the lower supporting platform are both connected with a fixed platform through a rotating hinge; the front ends of the first branch component and the second branch component are connected with the movable platform through a rotating hinge, and the front end of the third branch component is fixedly connected with the movable platform; two degree of freedom gesture adjustment mechanism include the sucking disc, set firmly C type component on the sucking disc and with C type component is through rotating hinged joint's A type component, A type component is a cuboid component the first end of A type component is equipped with the mating holes of being connected with the handle of a knife, the cutter that processes is carried out in the mating holes installation the second end of A type component is equipped with an extension shaft, thereby forms the first degree of freedom that rotates with the circular through-hole that is located C type component both sides, thereby the first end of C type component is equipped with a pivot, thereby pivot and the below circular hole of moving platform subassembly form the rotation hinged joint and constitute the second and rotate the degree of freedom.

Preferably, the first branch component and the second branch component respectively comprise a movable platform supporting component, a first branch main body, a second branch main body, a servo motor, a roller guide rail, a screw rod component, a long grating, a screw rod seat, a rotary support and a sliding block seat, a first end of a screw rod of the screw rod component is connected with an output end of the servo motor through a coupler and is matched with a bearing in the screw rod seat, an inner ring of the bearing is locked through a locking nut, an outer ring of the bearing is fixed through an end cover, a second end of the screw rod is supported through the screw rod seat, the middle part of the screw rod and the screw rod nut fixedly connected on the rotary support form a screw pair connection, the sliding block seat is fixedly connected with the rotary support, the rotary support is rotatably connected with a matching hole of the upper supporting platform and the rotary support through a crossed bearing, a rotary hinge at the left end and the right end of the upper supporting platform is rotatably connected with the fixed, the axes of the two rotary pairs which are rotationally connected are vertically intersected to form a Hooke hinge, the sliding block seat is matched with the two guide rails fixedly connected with the first branch main body and the second branch main body and is driven by the screw nut to move relatively, and the long grating is positioned between the two guide rails and is fixedly connected with the first branch main body and the second branch main body respectively.

Preferably, the movable platform supporting assembly comprises two hooke hinged seats and a front hinged shaft, the hooke hinged seats at two ends are rigidly connected with two ends of the front hinged shaft, the front ends of the first branch main body and the second branch main body are respectively connected with the first hooke hinged seat and the second hooke hinged seat through a movable platform supporting shaft assembly located inside the branches, and the supporting shaft is rotatably connected with the movable platform through angular contact bearings arranged in double rows.

Preferably, the third branch assembly comprises a third branch main body, a servo motor, a roller guide rail, a ball screw assembly, a long grating, a rotary support and a rotary slider seat, the arrangement mode of the servo motor, the ball screw assembly, the roller guide rail and the long grating is the same as that of the first branch assembly or the second branch assembly, the rotary slider seat is rotationally connected with the rotary support through a group of angular contact ball bearings, the rotary support can rotate around the axis of the bearing, the rotary support is rotationally connected with a matching hole of the rotary assembly and a lower support platform through a crisscross bearing, the rotary hinges at the upper end and the lower end of the lower support platform are rotationally connected with the fixed platform through tapered roller bearings, the axes of the rotary pair of the two rotary connections and the rotary support rotate around the axis of the bearing are vertically intersected to form a spherical hinge, and the rotary hinges at the upper end and the lower end of the lower support platform are rotationally connected with the fixed platform through tapered roller bearings, the bottom surface of the rotary sliding block seat is connected with four sliding blocks arranged in double rows, the sliding blocks are connected with a linear guide rail of a third branch to form a moving pair, and a screw rod and a screw nut drive the rotary support of the third branch to move through spiral motion, so that the branch is driven to move relative to the rotary sliding block seat.

Further, two rotation hinges are distributed at two ends of the upper supporting platform, two mounting holes are distributed in the middle of the upper supporting platform, four side holes are distributed on two sides of each mounting hole, the two mounting holes can be penetrated through by the first branch component and the second branch component, the side holes can be matched with the rotation support to rotate with single degree of freedom, and the rotation hinges at two ends of the upper supporting platform can be connected with the two supporting components in a rotating mode.

Furthermore, two rotating hinges are distributed at two ends of the lower supporting platform, one hinge is arranged in the middle of the two rotating hinges and used for penetrating through the third branch component mounting hole, two side holes are formed in two sides of the mounting hole and can be matched with the rotating support to rotate with a single degree of freedom, and the rotating hinges at two ends of the lower supporting platform can be connected with the two supporting components in a rotating mode.

Preferably, the movable platform assembly comprises a movable platform, a first branch Hooke hinge support, a second branch Hooke hinge support, a third branch joint surface and a positioning pin, the first branch Hooke hinge support and the second branch Hooke hinge support are rigidly connected through a whole support shaft, the support shaft and the movable platform are in rotating connection through paired angular contact bearings, and the movable platform is rigidly connected with the third branch.

Compared with the prior art, the invention has the following advantages:

1. the multi-position rotating hinge of the five-freedom-degree series-parallel robot can be made into a module component, has high modularization degree and is convenient to assemble, maintain and replace;

2. compared with the robots disclosed by the patent CN102699899A and the patent CN104985596A, the number of kinematic pairs of the parallel-series robot mechanism is reduced by 2, and the complexity of the robot structure is reduced;

3. the mounting holes for connecting the hinge axes are all in the horizontal or vertical direction and are all positioned in the same plane, so that the hinge has good manufacturing and assembling manufacturability;

4. the movement planes of the first branch assembly and the second branch assembly are coplanar, so that the mechanism kinematics inverse solution analysis expression is convenient to calculate and is convenient to plan a track and control in real time.

Drawings

FIG. 1 is a schematic view of the overall structure of the parallel mechanism of the present invention with the fixed platform removed;

FIG. 2 is a rear view of FIG. 1;

FIG. 3a is a schematic structural view of an upper support platform of the present invention;

FIG. 3b is a schematic structural view of section A-A of FIG. 3 a;

FIG. 4a is a schematic structural view of a lower support platform according to the present invention;

FIG. 4B is a schematic structural view of section B-B of FIG. 4 a;

FIG. 5 is a schematic structural view of a first leg assembly and a second leg assembly of the present invention;

FIG. 6 is a schematic view of the rotary support and slider housing of the first and second subassemblies of the present invention;

FIG. 7 is a schematic structural view of a third subassembly of the present invention;

FIG. 8 is a schematic view of the structure of the rotary support and the rotary slide mount in the third subassembly of the present invention;

FIG. 9 is a schematic structural view of the movable platform assembly of the present invention;

FIG. 10 is a schematic structural diagram of the turning head of the present invention; and

fig. 11 is a schematic structural view of embodiment 1 of the present invention.

In the figure: 1-a first branch component, 2-a support component, 3-an upper support platform, 4-a second branch component, 5-a movable platform component, 6-a two-degree-of-freedom posture adjusting head, 7-a third branch component, 8-a lower support platform, 301-an upper support platform rotating hinge, 302-an upper support platform mounting hole, 303-an upper support platform side hole, 801-a lower support platform rotating hinge, 802-a lower support platform side hole, 803-a lower support platform mounting hole, 101-a movable platform support shaft component, 102-a servo motor, 103-a coupler, 104-a lead screw seat, 105-a rotating support and a slide block seat, 106-a guide rail, 107-a lead screw, 108-a bearing support seat, 109-a slide block seat, 111-a rotating support, 112-a lead screw nut, 701-a third branch main body, 702-a servo motor, 703-a bearing, 704-a bearing seat, 705-a rotating assembly and a sliding block seat, 706-a lead screw, 707-a guide rail, 708-a bearing support seat, 709-a rotating sliding block seat, 710-a joint support assembly, 712-a rotating support, 501-a first and a two-branch Hooke hinge seat, 502-a moving platform, 503-a positioning pin hole, 61-A type component, 62-C type component and 63-a sucker.

Detailed Description

The five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism is described in detail below with reference to the embodiments and the accompanying drawings.

As shown in fig. 1, 2 and 9, the five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism of the present invention includes a two-rotation one-movement three-degree-of-freedom parallel mechanism and a two-degree-of-freedom attitude adjusting mechanism connected in series with the parallel mechanism, and the two-rotation one-movement three-degree-of-freedom parallel mechanism includes a fixed platform 2, an upper supporting platform 3, a lower supporting platform 8, three branch assemblies 1, 4, 7 and a moving platform assembly 5. The first branch component 1 and the second branch component 4 with the same structure in the three branch components are positioned in the same plane and penetrate through the upper supporting platform 3, and are connected with the upper supporting platform 3 through a rotating hinge. The third branch assembly 7 passes through the lower supporting platform 8 and is connected with the lower supporting platform 8 by a rotating hinge. The upper supporting platform 3 and the lower supporting platform 8 are both connected with the fixed platform 2 through a rotating hinge; the front ends of the first branch component 1 and the second branch component 4 are connected with the movable platform 502 by a rotating hinge, and the front end of the third branch component 7 is fixedly connected with the movable platform 502.

The two-degree-of-freedom posture adjustment mechanism includes a suction cup 63, a C-shaped member 62 fixed to the suction cup 63, and an a-shaped member 61 connected to the C-shaped member 62 by a rotating hinge. The A-shaped component 61 is a cuboid component, a matching hole connected with the tool holder is formed in the first end of the A-shaped component 61, a tool required by the device in machining is installed in the matching hole, an extending shaft is arranged at the second end of the A-shaped component 61 and is in rotating hinged connection with circular through holes located on two sides of the C-shaped component 62 to form a first rotating degree of freedom, a rotating shaft is arranged at the first end of the C-shaped component 62, and the rotating shaft and a circular hole below the movable platform assembly 5 form a rotating hinged connection to form a second rotating degree of freedom.

Specifically, the less-joint over-constrained five-degree-of-freedom hybrid robot comprises a supporting component 2, an upper supporting platform 3, a lower supporting platform 8, a first branch component 1, a second branch component 4, a third branch component 7, a movable platform component 5 and a two-degree-of-freedom posture adjusting head 6 connected to the tail end of the movable platform component 5 in series.

The both sides end of going up supporting platform 3 rotates hinge 301 and rotates with two supporting component 2 of arranging about through going up supporting platform respectively and is connected, and like this, the upper and lower both ends of lower supporting platform 8 rotate hinge 801 and rotate with two supporting component 2 of arranging about through the lower supporting platform and be connected, and four supporting component 2 coplanarity constitute parallel mechanism's fixed platform. The first branch component 1 and the second branch component 4 respectively penetrate through an upper supporting platform mounting hole 302 of an upper supporting platform 3 to be connected with a movable platform component 5 through a movable platform supporting shaft component 101 and a first and a second branch hook hinge seats 501, the third branch component 7 penetrates through a lower supporting platform mounting hole 803 of a lower supporting platform 8 to be fixedly connected with the movable platform component 5 through a positioning pin hole 503, the first branch component 1 and the second branch component 4 are symmetrically arranged on the same plane, the middle parts of the first branch component 1 and the second branch component 4 are respectively connected on the upper supporting platform 3 through a rotating support 111 with one rotating degree of freedom, a slider seat 109 is fixedly connected with the rotating support 111 through a bolt, the third branch component 7 is arranged below the first branch component 1 and the second branch component 4, the middle part of the third branch component 7 is connected on the lower supporting platform 8 through a rotating support 712 which has two rotating degrees of freedom and is fixedly connected with a rotating slide block 709, forming a ball hinge with three rotational degrees of freedom, the three rotational axes being perpendicular to each other and intersecting at a point.

As shown in fig. 3a and 3b, two upper supporting platform rotating hinges 301 are distributed at two ends of an upper supporting platform 3, two upper supporting platform mounting holes 302 are distributed in the middle, four upper supporting platform side holes 303 are distributed at two sides of each mounting hole 302, the two mounting holes 302 can be penetrated by a first branch component 1 and a second branch component 4, the four side holes 303 are distributed at two sides of each mounting hole 302 and can be matched with a rotating support 111 to rotate with a single degree of freedom, the rotating hinges 301 at two ends of the upper supporting platform can be connected with two supporting components 2 in a rotating manner, and the axes of the four side holes 303 are parallel in a two-two collinear manner.

As shown in fig. 4a and 4b, two lower support platform rotation hinges 801 are distributed at two ends of a lower support platform 8, a lower support platform mounting hole 803 is processed, two lower support platform side holes 802 are distributed at two sides of the mounting hole 803, a third branch component 7 can penetrate through the mounting hole 803, the two side holes 802 can be respectively matched with a rotation support 712 to perform single-degree-of-freedom rotation, the lower rotation hinges 801 at the upper and lower ends of the lower support platform 8 are rotatably connected with two support components 2, and the axes of the two side holes 802 are collinear.

As shown in fig. 5 and 6, the first branch unit 1 and the second branch unit 4 have the same structure, and each of the first branch unit 1 and the second branch unit 4 includes: moving platform supporting shaft assembly 101, servo motor 102, shaft coupling 103, lead screw seat 104, rotating support and slider seat 105, guide rail 106, lead screw 107, bearing support 108, servo motor 102 adopts leading overall arrangement mode, improve structural stability, open structure is convenient for motor heat dissipation, its output passes through shaft coupling 103 and is connected with the first end of lead screw 107, fix through the bearing of establishing in lead screw seat 104 on the branch main part, the second end of lead screw 107 carries out the letter through bearing support 108, lead screw 107 middle part is through rotating support 111 and last supporting platform side opening 303 swivelling joint in last supporting platform 3, slider seat 109 and the cooperation of two guide rail 106 of linking firmly on branch, can be driven by screw nut 112 and remove.

As shown in fig. 7, the third branching unit 7 includes: the third branch main body 701, the servo motor 702, the bearing 703, the bearing seat 704, the rotating assembly and the rotating block seat 705, the lead screw 706, the guide rail 707 and the bearing support seat 708, the third branch assembly 7 is arranged in the same way as the first and the second branch assemblies, and only the rotating assembly and the block seat 705 are different from the rotating support and the block seat 105.

As shown in fig. 8, two ends of the rotating support 712 are supported by a set of angular contact bearings and are rotatably connected with the rotating slider seat 709, and can be rotatably connected around the bearings, the other two sides of the rotating support are installed on the joint support assembly 710 through the angular contact bearings, and the joint support assembly 710 is connected on the upper and lower support platforms through screws; the bottom surface of the rotating slide block seat 709 is connected with four slide blocks arranged in double rows, and the slide blocks are connected with a linear guide rail 707 of a third branch to form a moving pair; the middle of the rotating support 712 is used to connect the lead screw 706 of the third branch to drive the movement of the branches relative to the rotating slider mount.

As shown in fig. 9, the movable platform assembly includes a movable platform 502, a first branch hooke joint, a second branch hooke joint 501, a third branch joint surface and a positioning pin 503, the first branch hooke joint and the second branch hooke joint 501 are rigidly connected by a whole supporting shaft, the supporting shaft is rotatably connected with the movable platform 502 by a paired angular contact bearing, and the connection between the movable platform assembly 5 and the third branch assembly 7 is precisely positioned by the positioning pin 503 and the joint surface.

As shown in fig. 10, the two-degree-of-freedom adjustment head 6 includes an a-shaped member 61, a C-shaped member 62, and a suction cup 63. A type component 61 is a cuboid component, the first end of component is equipped with the mating holes who is connected with the handle of a knife, the mountable cutter processes, first end at A type component 61 is equipped with an extension shaft, form rotation hinged joint with the circular through-hole of C type component 62 both sides, form a rotation degree of freedom, C type component 62 first end is equipped with a pivot, the pivot passes through rotation hinged joint with the round hole below the movable platform subassembly 5, form the second and rotate the degree of freedom, sucking disc 63 is to C type component 62's installation supporting role.

As shown in fig. 11, an example of practical application of a five-degree-of-freedom hybrid robot of the present invention is given. In this example, four support assemblies 2 are respectively fixed on the frame 9 to form a schematic structural diagram of a five-degree-of-freedom hybrid processing robot processing model. The machine frame 9 can be vertically placed on the ground, the machine frame can also be placed at different angles on a larger supporting platform through the bolts at the two ends of the machine frame 9, a cutter is mounted at the tail end of the two-freedom-degree posture adjusting head 6 to process a complex curved surface, the specific processing process can be controlled by the solved hybrid robot through inverse solution and analysis, the complex curved surface of a processed workpiece is determined by a cutter point to feed back and control the hybrid robot, and therefore five-axis linkage processing of the hybrid robot is achieved.

The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the invention, it should be understood that various modifications and adaptations can be made by those skilled in the art without departing from the principles of the present application and should be considered as within the scope of the present application.

Claims (5)

1. A five-freedom-degree series-parallel robot based on a two-rotation one-movement three-freedom-degree parallel mechanism comprises a two-rotation one-movement three-freedom-degree parallel mechanism and a two-freedom-degree posture adjusting mechanism which is connected with the parallel mechanism in series, and is characterized in that:

the two-rotation one-movement three-freedom-degree parallel mechanism comprises a fixed platform, an upper supporting platform, a lower supporting platform, three branch assemblies and a movable platform assembly, wherein a first branch assembly and a second branch assembly which are identical in structure in the three branch assemblies are positioned in the same plane and penetrate through the upper supporting platform and are connected with the upper supporting platform through rotating hinges, a third branch assembly penetrates through the lower supporting platform and is connected with the lower supporting platform through rotating hinges, and the upper supporting platform and the lower supporting platform are connected with the fixed platform through rotating hinges; the front ends of the first branch component and the second branch component are connected with the movable platform through a rotating hinge, and the front end of the third branch component is fixedly connected with the movable platform; the movable platform assembly comprises a movable platform, a first branch Hooke hinge base, a second branch Hooke hinge base, a third branch joint surface and a positioning pin, wherein the first branch Hooke hinge base and the second branch Hooke hinge base are rigidly connected by a whole support shaft, the support shaft is rotationally connected with the movable platform by a paired angular contact bearing, and the connection between the movable platform assembly and the third branch assembly is positioned by the positioning pin and the joint surface; and

the two-degree-of-freedom posture adjusting mechanism comprises a sucker, a C-shaped component fixedly arranged on the sucker and an A-shaped component connected with the C-shaped component through a rotating hinge, wherein the A-shaped component is a cuboid component, a matching hole connected with a tool handle is formed in the first end of the A-shaped component, a tool for processing is installed in the matching hole, an extending shaft is arranged at the second end of the A-shaped component and is in rotating hinge connection with circular through holes located on two sides of the C-shaped component to form a first rotating degree of freedom, a rotating shaft is arranged at the first end of the C-shaped component and is in rotating hinge connection with a circular hole below the movable platform component to form a second rotating degree of freedom;

the third branch assembly comprises a third branch main body, a servo motor, a roller guide rail, a ball screw assembly, a long grating, a rotary support and a rotary slide block seat, the arrangement modes of the servo motor, the ball screw assembly, the roller guide rail and the long grating are the same as those of the first branch assembly or the second branch assembly, the rotary slide block seat is rotationally connected with the rotary support through a group of angular contact ball bearings, the rotary support can rotate around the axial line of the angular contact ball bearings, the rotary support is rotationally connected with a lower supporting platform and a matching hole of the rotary assembly through a crossed bearing, rotary hinges at the upper end and the lower end of the lower supporting platform are rotationally connected with a fixed platform through tapered roller bearings, the axial lines of two rotationally connected rotary pairs and the rotary support rotate around the tapered roller bearings are vertically intersected to form a spherical hinge, and four sliders arranged in double rows are connected to the bottom surface of the rotary slide block seat, the sliding block is connected with the linear guide rail of the third branch to form a moving pair, the screw rod and the screw rod nut drive the rotary support of the third branch to move through spiral motion, and then the third branch is driven to move relative to the rotary sliding block seat.

2. The five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism as claimed in claim 1, wherein: the first branch assembly and the second branch assembly respectively comprise a movable platform supporting assembly, a first branch main body, a second branch main body, a servo motor, a roller guide rail, a lead screw assembly, a long grating, a lead screw seat, a rotary support and a slider seat, wherein a first end of a lead screw of the lead screw assembly is connected with the output end of the servo motor through a coupler and is matched with a bearing in the lead screw seat, an inner ring of the bearing in the lead screw seat is locked through a locking nut, an outer ring of the bearing in the lead screw seat is fixed through an end cover, a second end of the lead screw is supported through the lead screw seat, the middle part of the lead screw and the lead screw nut fixedly connected on the rotary support form a screw pair connection, the slider seat is fixedly connected with the rotary support, the rotary support is rotatably connected with a matching hole of the rotary support through a crossed bearing, and rotary hinges at the left end and the right end of the upper support are rotatably connected with a fixed platform through, the axes of the two rotary pairs which are rotationally connected are vertically intersected to form a Hooke hinge, the sliding block seat is matched with the two guide rails fixedly connected with the first branch main body and the second branch main body and is driven by the screw nut to move relatively, and the long grating is positioned between the two guide rails and is fixedly connected with the first branch main body and the second branch main body respectively.

3. The five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism as claimed in claim 2, wherein: the movable platform supporting assembly comprises two hook hinged seats and a front hinged shaft, the hook hinged seats are rigidly connected with two ends of the front hinged shaft, the front ends of the first branch main body and the second branch main body are connected with the rotating hinge through a movable platform supporting shaft assembly positioned in the branches, so that the first hook hinged seat and the second hook hinged seat are respectively connected, and the supporting shaft and the movable platform are rotationally connected through an angular contact bearing in double-row arrangement.

4. The five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism as claimed in claim 2, wherein: two rotation hinges are distributed at two ends of the upper supporting platform, two mounting holes are distributed in the middle of the upper supporting platform, four side holes are distributed on two sides of the two mounting holes, the two mounting holes can be penetrated through by the first branch component and the second branch component, the side holes can be matched with the rotation support to rotate with single degree of freedom, and the rotation hinges at two ends of the upper supporting platform can be connected with the two supporting components in a rotating mode.

5. The five-degree-of-freedom hybrid robot based on the two-rotation one-movement three-degree-of-freedom parallel mechanism as claimed in claim 1 or 4, wherein: two rotation hinges are distributed at two ends of the lower supporting platform, one rotation hinge is arranged in the middle of the two rotation hinges and used for penetrating through a third branch component mounting hole, two side holes are formed in two sides of the mounting hole and can be matched with a rotation support to rotate with a single degree of freedom, and the rotation hinges at two ends of the lower supporting platform can be connected with the two support components in a rotating mode.

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