A branch chain assembly, a six-degree-of-freedom parallel mechanism and an industrial robot

Abstract

The present invention relates to a branch chain assembly, which comprises: a support portion fixed on a fixed platform, a linear displacement slider being slidably connected to the support portion, and the linear displacement slider can slide on the support portion; a sliding portion is connected to the support portion, the linear displacement slider is connected to the sliding portion, and the sliding portion drives the linear displacement slider to slide on the support portion; a rotating portion is connected to the linear displacement slider, and a connecting rod mechanism is connected to the rotating portion; the six-degree-of-freedom parallel mechanism of the present invention has fewer branch chain components and symmetrical distribution, a large working space, a strong load-bearing capacity, and a high flexibility, and can be applied to rehabilitation institutions, processing machine tools, and force feedback devices.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a branch chain assembly, a six-degree-of-freedom parallel mechanism and an industrial robot. Background Art

[0002] In the field of industrial robots, the more degrees of freedom a machine has, the more functions it can achieve. The degrees of freedom are generally achieved through multiple parallel mechanisms. The branches of the parallel mechanism and the moving platform form a closed loop, and the effect of the branches on the moving platform is achieved through the parallel effect of multiple branches. The load when the parallel mechanism is working will be borne by multiple branches, so the stiffness performance of the parallel mechanism is significantly better than that of the series mechanism. The parallel mechanism is driven by multiple branches in parallel, so the errors of each branch will not accumulate, and the output actuator will have higher accuracy.

[0003] The traditional six-branch six-degree-of-freedom parallel mechanism has the characteristics of high precision and good load-bearing performance, but this type of mechanism has too many branches, and its working space and flexibility are seriously affected. The research and development of a six-degree-of-freedom parallel mechanism with fewer branches has attracted widespread attention from the public; the common characteristics of the above-mentioned new three-branch six-degree-of-freedom mechanism are that, compared with the traditional six-degree-of-freedom parallel mechanism, its number of branches is significantly reduced and the working space is significantly increased; the reduction in the number of branches is conducive to expanding the working space of the mechanism and can be effectively applied to rehabilitation institutions, wind tunnel tests, aerospace and other fields.

[0004] In summary, providing a six-DOF parallel mechanism is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In order to solve the above-mentioned problems of the prior art, the present invention provides a branch chain assembly, a six-degree-of-freedom parallel mechanism and an industrial robot to solve the above-mentioned problems of the prior art. The branch of the mechanism contains a closed-loop unit, has a compact structure, symmetrically distributed branches, high rigidity, and the reduction of branch chain components increases the working space and enhances the flexibility, thereby increasing the application scenarios of the parallel mechanism.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] A branch chain assembly comprises: a support portion fixed on a fixed platform, a linear displacement slider being slidably connected to the support portion, and the linear displacement slider can slide on the support portion; a sliding portion is connected to the support portion, the linear displacement slider is connected to the sliding portion, and the sliding portion drives the linear displacement slider to slide on the support portion; a rotating portion is connected to the linear displacement slider, and the rotating portion is connected to a connecting rod mechanism.

[0010] Furthermore, the support part includes a linear displacement lower support frame and a linear displacement upper support frame arranged at intervals, and the linear displacement lower support frame and the linear displacement upper support frame are respectively fixedly connected to a fixed platform through fixed support members; a linear displacement cross support frame is fixedly connected between the linear displacement lower support frame and the linear displacement upper support frame, and a linear displacement slider is slidably connected to the linear displacement cross support frame.

[0011] Furthermore, the sliding part includes a driving wheel and a driven wheel arranged at intervals on the support part, the driving wheel and the driven wheel are connected by a conveyor belt, the linear displacement slider is fixedly connected to the conveyor belt, the driving wheel is connected to a linear driving element arranged on the support part, and the linear driving element works to drive the conveyor belt between the driving wheel and the driven wheel to work, thereby driving the linear displacement slider to move on the linear displacement cross support frame.

[0012] Furthermore, the linear displacement lower support frame includes a lower support head and a lower support bottom rod, the lower support head is connected to the lower support bottom rod, the lower support head is provided with a lower support head fixing hole for installing a driven wheel; the lower support head is provided with a first connecting hole of the lower support frame for connecting with the linear displacement cross support frame; the lower support bottom rod is provided with a second connecting hole of the lower support frame connected to the fixed support member.

[0013] Furthermore, the linear displacement upper support frame includes an upper support frame head and an upper support frame bottom rod, the upper support frame head is connected to the upper support frame bottom rod, the upper support frame head is provided with a linear drive element mounting hole for installing the linear drive element and a linear drive element fixing hole for fixing the linear drive element; the upper support frame head is provided with an I-beam mounting groove for installing the linear displacement cross support frame and an upper support frame fixing hole for fixing the linear displacement cross support frame; the upper support frame bottom rod is provided with an upper support frame connecting hole for connecting to the fixed support member.

[0014] Furthermore, the rotating part includes a synchronous pulley and a rotation driving element arranged on the linear displacement slider, and the synchronous pulley is rotatable relative to the linear displacement slider; a driving pulley is connected to the output end of the rotation driving element, and the driving pulley and the synchronous pulley are connected by a synchronous belt, and the rotation driving element workpiece drives the synchronous pulley to rotate relative to the linear displacement slider through the synchronous belt.

[0015] Further, the linear displacement slider comprises a linear displacement slider body, the linear displacement slider body is provided with a slider center hole, the slider center hole is a bolt hole, the axis of the bolt hole corresponds to the center line of the linear displacement transverse support frame groove, the bolt is built into the groove, and plays the role of fixing the linear displacement slider on the linear guide rail of the linear displacement transverse support frame;

[0016] The linear displacement slider body is provided with a conveyor belt fixing hole, and screws are installed on the conveyor belt fixing hole to fix the conveyor belt in the conveyor belt groove on the linear displacement slider body. The linear displacement slider body is provided with a rotary drive element installation hole and a rotary drive element fixing hole to install and fix the rotary drive element.

[0017] Further, the connecting rod mechanism includes a composite hinge fixedly connected to the rotating part, a lower connecting rod is rotatably connected to the composite hinge, the other end of the lower connecting rod is rotatably connected to the upper connecting rod, the other end of the upper connecting rod is fixedly connected to the Hook hinge, the composite hinge includes a composite hinge body matched with a synchronous pulley, a fixing platform is formed on the composite hinge body, a bearing mounting hole is formed on the fixing platform, a bearing fixing hole is provided on the fixing platform, the bearing fixing hole is communicated with the bearing mounting hole, and is used for tightening and fixing the bearing in the bearing mounting hole; a bearing is connected in the bearing mounting hole, one end of the lower connecting rod is connected to the bearing in the bearing mounting hole through a connecting shaft, and the lower connecting rod is rotatable relative to the fixing platform with the bearing in the bearing mounting hole as a fulcrum;

[0018] The composite hinge body is provided with a first fixing hole and a second fixing hole for limiting and / or fixing the composite hinge body; the first fixing hole matches with the lower auxiliary groove of the synchronous pulley;

[0019] The Hooke's hinge comprises a Hooke's hinge body, and the two ends of the Hooke's hinge body in the vertical direction and the horizontal direction are respectively formed with a connecting longitudinal connection part and a transverse connection part, a first Hooke's hinge connecting piece is rotatably connected between the two longitudinal connection parts, and a first Hooke's hinge mounting hole is provided on the first Hooke's hinge connecting piece, a second Hooke's hinge connecting piece is rotatably connected between the two transverse connection parts, and a second Hooke's hinge mounting hole is provided on the second Hooke's hinge connecting piece, and the first Hooke's hinge mounting hole is connected to the other end of the upper connecting rod,

[0020] An upper connecting rod mounting hole matched with the lower connecting rod is formed at one end of the upper connecting rod; an upper connecting rod connecting portion matched with the first Hooke's hinge mounting hole is formed at the other end of the upper connecting rod.

[0021] A six-degree-of-freedom parallel mechanism comprises: a fixed platform and a moving platform, wherein the moving platform is connected to the fixed platform through a branch chain assembly, and the moving platform can realize six degrees of freedom relative to the fixed platform through the branch chain assembly;

[0022] There are three groups of branch chain components, and the angle between two adjacent branch chain components is 120 degrees;

[0023] The ends of the connecting rod mechanisms of the three branch chain assemblies are respectively connected to the moving platforms.

[0024] An industrial robot, characterized by comprising a six-degree-of-freedom parallel mechanism.

[0025] (III) Beneficial effects

[0026] The beneficial effects of the present invention are: 1. The six-degree-of-freedom parallel mechanism can realize three translations and three rotations of the six-degree-of-freedom of the moving platform, and has high flexibility;

[0027] 2. The six-degree-of-freedom parallel mechanism has only three branch chain components, which has a larger working space while inheriting the high stiffness and high load-bearing capacity of the parallel mechanism;

[0028] 3. The six-degree-of-freedom parallel mechanism uses a composite hinge, which has a simple structure, is easy to manufacture, process and assemble, and has a low production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 A schematic diagram of the structure of a six-degree-of-freedom parallel mechanism according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a moving platform according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of a linear displacement lower support frame according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of a linear displacement upper support frame according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the structure of a fixed support member according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of a linear displacement cross support frame according to an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a Hooke's hinge structure according to an embodiment of the present invention;

[0037] Figure 8 A schematic diagram of the upper connecting rod structure according to an embodiment of the present invention;

[0038] Fig. 9 A schematic diagram of the lower connecting rod structure according to an embodiment of the present invention;

[0039] Fig.10 A schematic diagram of a composite hinge structure according to an embodiment of the present invention;

[0040] Fig.11 A schematic diagram of the structure of a rotating part according to an embodiment of the present invention;

[0041] Fig.12 The figure is a schematic diagram of the structure of a linear displacement slider according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0043] A six-degree-of-freedom parallel mechanism according to an embodiment of the present invention, such as Figure 1 As shown, it includes: a fixed platform I and a moving platform II. The moving platform II is connected to the fixed platform I through a branch chain assembly. The moving platform II can achieve six degrees of freedom relative to the fixed platform I through the branch chain assembly.

[0044] Furthermore, in this embodiment, the branch chain components are divided into three groups, and the angle between two adjacent branch chain components is 120 degrees.

[0045] Furthermore, in this embodiment, if Figure 2 As shown, the moving platform II includes a moving platform body, on which a plurality of moving platform connecting parts 15 are formed in a circular array. There are three moving platform connecting parts 15, and the three moving platform connecting parts 15 are respectively fixedly connected to the ends of the three corresponding connecting rod mechanisms; the lower end 16 of the moving platform body is installed with corresponding components for use according to the application scenario.

[0046] Specifically, in this embodiment, Figure 1 As shown, a branch chain assembly includes a support portion fixed on a fixed platform I, a linear displacement slider 7 is slidably connected to the support portion, and the linear displacement slider 7 can slide on the support portion; a sliding portion is connected to the support portion, and the linear displacement slider 7 is connected to the sliding portion, and the sliding portion drives the linear displacement slider 7 to slide on the support portion; a rotating portion is connected to the linear displacement slider 7, and the rotating portion is connected to a connecting rod mechanism, and the ends of the three connecting rod mechanisms are respectively connected to the moving platform II.

[0047] Furthermore, in this embodiment, if Figure 1As shown, the support portion includes a linear displacement lower support frame 6 and a linear displacement upper support frame 9 arranged at intervals, and the linear displacement lower support frame 6 and the linear displacement upper support frame 9 are respectively fixedly connected to the fixed platform I through fixed support members 10; a linear displacement cross support frame 8 is fixedly connected between the linear displacement lower support frame 6 and the linear displacement upper support frame 9, and the linear displacement cross support frame 8 is an I-beam structural member; a linear displacement slider 7 is slidably connected to the linear displacement cross support frame 8.

[0048] The sliding part includes a driving wheel and a driven wheel arranged on the support part at intervals, the driving wheel and the driven wheel are connected by a conveyor belt, the linear displacement slider 7 is fixedly connected to the conveyor belt, the driving wheel is connected to a linear driving element arranged on the support part, and the linear driving element works to drive the conveyor belt between the driving wheel and the driven wheel to work, thereby driving the linear displacement slider 7 to move on the linear displacement cross support frame 8.

[0049] Furthermore, in this embodiment, if Figure 3 As shown, the linear displacement lower support frame 6 includes a lower support head 35 and a lower support bottom rod, the lower support head 35 is connected to the lower support bottom rod, and the lower support head 35 is provided with a lower support head fixing hole 36 for installing the driven wheel; the lower support head 35 is provided with a first lower support frame connecting hole 37 for connecting with the linear displacement transverse support frame 8; the lower support bottom rod is provided with a second lower support frame connecting hole 38 connected with the fixed support member 10; the lower support head fixing hole 36 is a threaded through hole, and the driven wheel is fixed with a pin shaft, which serves to ensure the stability of the lower support head 35, the first lower support frame connecting hole 37 is a bolt hole, and the bolt is placed inside to fix the linear displacement transverse support frame 8, and the second lower support frame connecting hole 38 corresponds to the fixed support member connecting column 51 of the fixed support member 10, and is used to fix the linear displacement lower support frame 6 as a whole so that it does not move relative to each other.

[0050] Furthermore, in this embodiment, if Figure 4 , Figure 6As shown, the linear displacement upper support frame 9 includes an upper support frame head and an upper support frame bottom rod, the upper support frame head is connected to the upper support frame bottom rod, the upper support frame head is provided with a linear drive element mounting hole 46 for installing a linear drive element and a linear drive element fixing hole 47 for fixing the linear drive element; the upper support frame head is provided with an I-beam mounting groove 50 for installing a linear displacement cross support frame 8 and an upper support frame fixing hole 48 for fixing the linear displacement cross support frame 8; the upper support frame bottom rod is provided with an upper support frame connection for connecting with the fixed support member 10 Hole 49; the central axis of the linear drive element mounting hole 46 coincides with the central axis of the linear drive element, which plays a positioning role. The linear drive element fixing hole 47 is a threaded hole. The holes on the four sides of the motor correspond to the threaded holes and are fixedly connected with screws. The I-beam mounting groove 50 is used to place the linear displacement cross support frame 8. The upper support frame fixing hole 48 is a bolt hole. The bolts are placed inside to fix the linear displacement cross support frame 8. The upper support frame connecting hole 49 corresponds to the fixed support member connecting column 51 of the fixed support member 10, which is used to fix the linear displacement upper support frame 9 as a whole so that it does not move relative to each other.

[0051] Furthermore, in this embodiment, if Figure 5 As shown, the fixed support member 10 includes a fixed platform fixing frame body connected to the fixed platform I and arranged at intervals. The two fixed platform fixing frame bodies are connected by a fixed support member connecting column 51, and the fixed platform fixing frame body is provided with a fixing frame positioning hole 52 connected to the fixed platform I.

[0052] Furthermore, in order to facilitate the movement of the linear displacement slider 7 on the linear displacement transverse support frame 8, the linear displacement slider 7 is provided with a guide wheel that cooperates with the linear displacement transverse support frame 8.

[0053] Furthermore, in this embodiment, if Fig.11 As shown, the rotating part includes a synchronous pulley 5 and a rotary driving element arranged on the linear displacement slider 7, and the synchronous pulley 5 is rotatable relative to the linear displacement slider 7; a driving pulley 33 is connected to the output end 32 of the rotary driving element, and the driving pulley 33 is connected to the synchronous pulley 5 through a synchronous belt 34, and the rotary driving element workpiece drives the synchronous pulley 5 to rotate relative to the linear displacement slider 7 through the synchronous belt 34.

[0054] Furthermore, in this embodiment, if Fig.12As shown, the linear displacement slider 7 includes a linear displacement slider body, and a slider center hole 39 is opened on the linear displacement slider body. The slider center hole 39 is a bolt hole, and the axis of the bolt hole corresponds to the center line of the groove of the linear displacement cross support frame 8. The bolt is built into the groove to fix the linear displacement slider 7 on the linear guide rail of the linear displacement cross support frame 8;

[0055] The linear displacement slider body is provided with a guide wheel mounting hole 40, and there are four guide wheels evenly distributed around the linear displacement slider body. The rotation of the guide wheels will drive the linear displacement slider 7 to move on the linear displacement cross support frame 8. The linear displacement slider body is provided with a moving groove 42 that matches the linear displacement cross support frame 8.

[0056] The linear displacement slider body is provided with a conveyor belt fixing hole 41, and screws are installed on the conveyor belt fixing hole 41 to fix the conveyor belt in the conveyor belt groove 43 on the linear displacement slider body. The linear displacement slider body is provided with a rotary drive element mounting hole 45 and a rotary drive element fixing hole 44 to install and fix the rotary drive element.

[0057] Furthermore, in this embodiment, if Figure 8 , Fig. 9 As shown, the connecting rod mechanism includes a compound hinge 4 fixedly connected to the rotating part, specifically, the compound hinge 4 is fixedly connected to the synchronous pulley 5; a lower connecting rod 3 is rotatably connected to the compound hinge 4, the other end of the lower connecting rod 3 is rotatably connected to an upper connecting rod 2, the other end of the upper connecting rod 2 is fixedly connected to a Hooke's hinge 1, and the other ends of the three Hooke's hinges 1 are respectively fixedly connected to the moving platform II.

[0058] Furthermore, in this embodiment, if Fig.10 , Fig.11 As shown, the composite hinge 4 includes a composite hinge body matched with a synchronous pulley 5, a fixed platform is formed on the composite hinge body, a bearing mounting hole 25 is opened on the fixed platform, a bearing fixing hole 26 is provided on the fixed platform, the bearing fixing hole 26 is communicated with the bearing mounting hole 25, and is used for tightening and fixing the bearing in the bearing mounting hole 25; a bearing is connected in the bearing mounting hole 25, one end of the lower connecting rod 3 is connected to the bearing in the bearing mounting hole 25 through a connecting shaft, and the lower connecting rod 3 is rotatable relative to the fixed platform with the bearing in the bearing mounting hole 25 as a fulcrum.

[0059] The composite hinge body is provided with a first fixing hole 27 and a second fixing hole 28 for limiting and / or fixing the composite hinge body; the first fixing hole 27 cooperates with the lower auxiliary groove 31 of the synchronous pulley 5, and the second fixing hole 28 cooperates with the pulley connecting groove 29 of the synchronous pulley 5.

[0060] Furthermore, in this embodiment, if Figure 7 As shown, the Hooke's hinge 1 includes a Hooke's hinge body, and a connecting longitudinal connection part 20 and a transverse connection part 18 are respectively formed at both ends of the vertical direction and the horizontal direction of the Hooke's hinge body, a first Hooke's hinge connector is rotatably connected between the two longitudinal connection parts 20, and a first Hooke's hinge mounting hole 19 is provided on the first Hooke's hinge connector, a second Hooke's hinge connector is rotatably connected between the two transverse connection parts 18, and a second Hooke's hinge mounting hole 17 is provided on the second Hooke's hinge connector, the first Hooke's hinge mounting hole 19 is connected to the other end of the upper connecting rod 2, and the second Hooke's hinge mounting hole 17 is connected to the moving platform II.

[0061] Furthermore, in this embodiment, if Figure 8 , Fig. 9 As shown, an upper connecting rod mounting hole 21 matching with the lower connecting rod 3 is formed at one end of the upper connecting rod 2; an upper connecting rod connecting portion 22 matching with the first Hooke's hinge mounting hole 19 is formed at the other end of the upper connecting rod 2.

[0062] An industrial robot comprises a six-degree-of-freedom parallel mechanism, which enables the industrial robot to have six degrees of freedom and is easy to use.

[0063] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0064] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0065] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0068] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A branch chain assembly, characterized in that: It comprises: a support portion fixed on a fixed platform (I), a linear displacement slider (7) being slidably connected to the support portion, and the linear displacement slider (7) being slidable on the support portion; a sliding portion being connected to the support portion, the linear displacement slider (7) being connected to the sliding portion, and the sliding portion driving the linear displacement slider (7) to slide on the support portion; a rotating portion being connected to the linear displacement slider (7), and the rotating portion being connected to a connecting rod mechanism; The support portion comprises a linear displacement lower support frame (6) and a linear displacement upper support frame (9) arranged at intervals, wherein the linear displacement lower support frame (6) and the linear displacement upper support frame (9) are respectively fixedly connected to the fixed platform (I) via fixed support members (10); a linear displacement transverse support frame (8) is fixedly connected between the linear displacement lower support frame (6) and the linear displacement upper support frame (9), and a linear displacement slider (7) is slidably connected to the linear displacement transverse support frame (8); The sliding part comprises a driving wheel and a driven wheel which are arranged on the support part at intervals, the driving wheel and the driven wheel are connected by a conveyor belt, the linear displacement slider (7) is fixedly connected to the conveyor belt, the driving wheel is connected to a linear drive element arranged on the support part, the linear drive element works, drives the conveyor belt between the driving wheel and the driven wheel to work, and then drives the linear displacement slider (7) to move on the linear displacement transverse support frame (8); The rotating part comprises a synchronous pulley (5) and a rotary drive element provided on the linear displacement slider (7); the synchronous pulley (5) is rotatable relative to the linear displacement slider (7); an output end (32) of the rotary drive element is connected to a driving pulley (33); the driving pulley (33) and the synchronous pulley (5) are connected via a synchronous belt (34); the rotary drive element workpiece drives the synchronous pulley (5) to rotate relative to the linear displacement slider (7) via the synchronous belt (34).

2. A branch chain assembly according to claim 1, characterized in that: The linear displacement lower support frame (6) comprises a lower support head (35) and a lower support bottom rod, the lower support head (35) is connected to the lower support bottom rod, the lower support head (35) is provided with a lower support head fixing hole (36) for mounting a driven wheel; the lower support head (35) is provided with a lower support frame first connecting hole (37) for connecting to the linear displacement transverse support frame (8); the lower support bottom rod is provided with a lower support frame second connecting hole (38) for connecting to the fixed support member (10).

3. A branch chain assembly according to claim 1, characterized in that: The linear displacement upper support frame (9) comprises an upper support frame head and an upper support frame bottom rod, the upper support frame head is connected to the upper support frame bottom rod, the upper support frame head is provided with a linear drive element mounting hole (46) for mounting a linear drive element and a linear drive element fixing hole (47) for fixing the linear drive element; the upper support frame head is provided with an I-beam mounting groove (50) for mounting a linear displacement transverse support frame (8) and an upper support frame fixing hole (48) for fixing the linear displacement transverse support frame (8); the upper support frame bottom rod is provided with an upper support frame connecting hole (49) for connecting to the fixed support member (10).

4. A branch chain assembly according to claim 1, characterized in that: The linear displacement slider (7) comprises a linear displacement slider body, the linear displacement slider body is provided with a slider center hole (39), the slider center hole (39) is a bolt hole, the axis of the bolt hole corresponds to the center line of the groove of the linear displacement transverse support frame (8), the bolt is built into the groove, and plays the role of fixing the linear displacement slider (7) on the linear guide rail of the linear displacement transverse support frame (8); The linear displacement slider body is provided with a conveyor belt fixing hole (41), and screws are installed on the conveyor belt fixing hole (41) to fix the conveyor belt in a conveyor belt groove (43) on the linear displacement slider body. The linear displacement slider body is provided with a rotary drive element mounting hole (45) and a rotary drive element fixing hole (44) to mount and fix the rotary drive element.

5. A branch chain assembly according to claim 1, characterized in that: The connecting rod mechanism comprises a composite hinge (4) fixedly connected to the rotating part, a lower connecting rod (3) being rotatably connected to the composite hinge (4), the other end of the lower connecting rod (3) being rotatably connected to the upper connecting rod (2), the other end of the upper connecting rod (2) being fixedly connected to the Hooke hinge (1), the composite hinge (4) comprising a composite hinge body, a fixing platform being formed on the composite hinge body, a bearing mounting hole (25) being formed on the fixing platform, a bearing fixing hole (26) being provided on the fixing platform, the bearing fixing hole (26) being communicated with the bearing mounting hole (25) and being used for tightening and fixing the bearing in the bearing mounting hole (25); a bearing being connected in the bearing mounting hole (25), one end of the lower connecting rod (3) being connected to the bearing in the bearing mounting hole (25) via a connecting shaft, the lower connecting rod (3) being rotatable relative to the fixing platform with the bearing in the bearing mounting hole (25) as a fulcrum; The composite hinge body is provided with a first fixing hole (27) and a second fixing hole (28) for limiting and / or fixing the composite hinge body; the first fixing hole (27) matches with the lower auxiliary groove (31) of the synchronous pulley (5); The Hooke's hinge (1) comprises a Hooke's hinge body, wherein two ends of the Hooke's hinge body in the vertical direction and the horizontal direction are respectively formed with a connecting longitudinal connection part (20) and a transverse connection part (18), a first Hooke's hinge connecting member is rotatably connected between the two longitudinal connection parts (20), and a first Hooke's hinge mounting hole (19) is provided on the first Hooke's hinge connecting member, a second Hooke's hinge connecting member is rotatably connected between the two transverse connection parts (18), and a second Hooke's hinge mounting hole (17) is provided on the second Hooke's hinge connecting member, and the first Hooke's hinge mounting hole (19) is connected to the other end of the upper connecting rod (2), An upper connecting rod mounting hole (21) matching with the lower connecting rod (3) is formed at one end of the upper connecting rod (2); an upper connecting rod connecting portion (22) matching with the first Hooke's hinge mounting hole (19) is formed at the other end of the upper connecting rod (2).

6. A six-degree-of-freedom parallel mechanism, characterized in that: It includes: A fixed platform (I) and a moving platform (II), wherein the moving platform (II) is connected to the fixed platform (I) via a branch chain assembly as claimed in any one of claims 1 to 5, and the moving platform (II) can achieve six degrees of freedom relative to the fixed platform (I) via the branch chain assembly; There are three groups of branch chain components, and the angle between two adjacent branch chain components is 120 degrees; The ends of the connecting rod mechanisms of the three branch chain assemblies are respectively connected to the moving platform (II).

7. An industrial robot, characterized in that: It comprises the six-degree-of-freedom parallel mechanism as described in claim 6.

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