A five-degree-of-freedom robot based on Delta parallel mechanism and tensegrity joint

Abstract

A five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint belongs to the field of parallel robots. All motors are fixed on a fixed platform, six inner peripheral motors are equally divided into three groups and evenly arranged, three boom fixing seats are fixed on the outer edge of the fixed platform, two pulley support seat assemblies are fixed at the upper and lower ends of the boom fixing seat, and one end of the boom is rotatably connected to the boom fixing seat; the winches on the two inner peripheral motors in each group are fixedly connected to one end of the upper and lower drive ropes of a group of boom drive ropes, and the upper and lower drive ropes pass around the pulleys on the pulley support seat assembly and are fixedly connected to the other end of the boom, and the other end of the boom is rotatably connected to one end of the forearm, and the other end of the forearm is rotatably connected to the moving platform of the moving platform rotating joint, and the winch of the peripheral motor is fixedly connected to one end of the rotating joint drive rope, and the other end of the rotating joint drive rope is fixedly connected to the end effector. The present invention can meet the requirement that the end effector has a rotating posture during assembly.

Description

Technical Field

[0001] The invention belongs to the field of parallel robots, and in particular relates to a five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint. Background Art

[0002] With the advancement of science and technology, robotics technology has been gradually applied to industries such as industry, medicine, and life. The technology of using robots for assembly and docking in industry has also gradually matured. At present, multi-axis serial robots are widely used in the field of precision assembly of robots, but this structure has problems such as large footprint, unstable motion accuracy, and low moving speed. The traditional delta parallel robot has the characteristics of high motion accuracy and fast motion speed, but because it only has translational freedom in the three directions of x, y, and z, and the end effector has a rotational posture requirement, a serial rotary actuator is required at the end, which increases the cost and affects the motion accuracy.

[0003] The invention patent with the authorization announcement number CN104625676A and the authorization announcement date of May 20, 2015 discloses a "shaft hole assembly industrial robot system and its working method". The shaft hole assembly industrial robot system has high working accuracy and controllable contact force, and can generate a series of motion trajectory points through teaching and trajectory planning. However, since the shaft hole assembly industrial robot system is a multi-axis serial robot system, it occupies a large area and is expensive.

[0004] The utility model patent with authorization announcement number CN216505108U and authorization announcement date May 13, 2022 discloses "a Delta parallel robot". The parallel delta robot uses a structure similar to a cross coupling to achieve a larger range of movement and more flexible movement, but the three-degree-of-freedom robot cannot meet the rotational posture requirements of the end. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the background technology and to provide a five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint.

[0006] The five-degree-of-freedom robot based on a delta parallel mechanism and a tensegrity joint of the present invention is applied to the fields of shaft hole assembly or carrying pipelines for docking and refueling by utilizing the characteristics of the delta parallel robot, such as high motion accuracy, space saving, certain flexibility and low cost.

[0007] A five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint of the present invention adds two rotational degrees of freedom around the x and y axes at the end of a traditional delta three-degree-of-freedom robot in the form of a tensegrity moving platform rotating joint, which can ensure high motion accuracy while meeting the requirement that the end has a rotational posture during assembly; the use of the tensegrity moving platform rotating joint can make the end lighter and more flexible than a series operator; the driving method of driving the winch pull rope through a motor makes the motor layout more flexible, saves space, and can adjust the stiffness to meet a certain assembly compliance.

[0008] To achieve the above purpose, the present invention adopts the following technical solutions:

[0009] A five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint comprises a fixed platform, a moving platform rotation joint, three sets of large arm drive ropes, nine motors, six pulley support seat assemblies, three large arms, three small arms and three large arm fixing seats; each set of drive ropes comprises an upper end drive rope and a lower end drive rope; the nine motors are six inner peripheral motors and three outer peripheral motors;

[0010] A winch is fixedly installed at the output end of each motor, and the nine motors can be detachably and fixedly installed on the fixed platform. The six inner motors are equally divided into three groups and evenly arranged. Three boom fixing seats are fixed at the outer edge of the fixed platform corresponding to the three groups of inner motors. Two pulley support seat assemblies are symmetrically fixed at the upper and lower ends of each boom fixing seat, and one end of the boom is rotatably connected to the boom fixing seat to form a boom rotating joint; the winches on the two inner motors in each group are respectively fixedly connected to the upper end driving rope and one end of the lower end driving rope of a corresponding group of boom driving ropes, and the upper end driving rope and the lower end driving rope respectively pass around the pulleys on the corresponding pulley support seat assemblies and are fixedly connected to the upper surface fixed end and the lower surface fixed end of the other end of the boom, the other end of the boom is rotatably connected to one end of the forearm, and the other end of the forearm is rotatably connected to the moving platform of the moving platform rotating joint, the winches of the three peripheral motors are respectively fixedly connected to one end of the three rotating joint driving ropes of the moving platform rotating joint, and the other ends of the three rotating joint driving ropes are fixedly connected to the end actuator of the moving platform rotating joint.

[0011] Furthermore, the six pulley support seat assemblies all include a support rod, a pulley support seat and a pulley; the pulley support seat is a U-shaped groove structure, the pulley is rotatably installed in the U-shaped groove of the pulley support seat, the bottom surface of the pulley support seat is fixedly connected to one end of the support rod, and the other end of the support rod is fixedly connected to the corresponding end surface of the boom fixing seat.

[0012] Furthermore, the three booms all include a driving rope fixed support, a boom connecting rod and a boom rotating joint; the boom rotating joint is rotatably connected to the boom fixed support, thereby forming a boom rotating joint; the two ends of the boom connecting rod are respectively fixedly connected to the boom rotating joint and the driving rope fixed support; the upper end driving rope passes around the corresponding pulley and is fixedly connected to the fixed end on the upper surface of the driving rope fixed support, and the lower end driving rope passes around the corresponding pulley and is fixedly connected to the fixed end on the lower surface of the driving rope fixed support.

[0013] Furthermore, the three forearms each include four forearm rotating joints, two short connecting rods, two forearm connecting rods and four forearm joints; the two forearm connecting rods are arranged in parallel, and a forearm joint is fixed at each end of the two forearm connecting rods, each forearm joint is inserted into an open groove provided in the middle of the corresponding forearm rotating joint, the forearm joint is rotatably connected with the forearm rotating joint, the two forearm rotating joints located at the same end of the two forearm connecting rods are symmetrically arranged, and a short connecting rod is fixedly connected between the two forearm rotating joints, a driving rope fixing support is arranged between the two forearm rotating joints, the driving rope fixing support is rotatably connected with the short connecting rod, the upper arm and the forearm can move relative to each other, and a rotating joint is formed by the driving rope fixing support and the short connecting rod.

[0014] Furthermore, the movable platform rotation joint includes a movable platform, an end effector, three movable platform connecting joints, three passive ropes and three rotating joint driving ropes; the movable platform is arranged directly below the fixed platform, a central through hole is arranged in the middle of the movable platform, the end effector is arranged at the central through hole of the movable platform, three movable platform connecting joints are evenly fixed around the movable platform, each movable platform connecting joint is rotatably connected to the short connecting rod at the other end of the corresponding forearm, three driving rope connecting holes 1 and three passive rope connecting holes 1 are evenly arranged near the periphery of the movable platform, the three driving rope connecting holes and the three passive rope connecting holes 1 are alternately and evenly arranged, the upper and lower end surfaces of the end effector are respectively provided with three passive rope connecting holes 2 and three driving rope connecting holes 2, the three passive rope connecting holes 1 and the three passive rope connecting holes 2 are arranged one by one, every two corresponding passive rope connecting holes 1 and passive rope connecting holes 2 are fixedly connected to the two ends of the passive rope, and the other end of each rotating joint driving rope passes through the driving rope connecting holes on the fixed platform and the movable platform and is fixedly connected to the driving rope connecting hole 2 of the end effector.

[0015] Furthermore, the other end of each rotating joint driving rope passes through the driving rope connecting hole 1 on the fixed platform and the movable platform and the brake line outer tube and is fixedly connected to the driving rope connecting hole 2 of the end effector.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Compared with the traditional three-degree-of-freedom delta robot, the present invention adds two degrees of freedom, which can enable the robot to move flexibly in five degrees of freedom, meet the assembly and docking requirements under more complex posture conditions, and the translational degrees of freedom along the three directions of x, y, and z and the two rotational degrees of freedom around the x and y directions are independently controlled to reduce the coupling degree. Compared with the traditional transmission method, the use of a rope drive method can make the structural design more concise, flexible, and cost-saving, and can also achieve stiffness adjustment and compliant control, and realize assembly, docking or friendly interaction with the external environment. The use of a tensioned integral moving platform rotating joint at the end greatly simplifies the mechanical structure design of the traditional rotating joint, making it lighter and more flexible in movement. The hollow structure that runs through the whole can more conveniently carry loads such as pipelines and lines, and has more practical application value. In the actual assembly and docking environment, collision is always an inevitable problem, and the passive rope and the driving rope in the present invention have a certain elasticity when the rope is hit, so that the overall structure has a certain passive flexibility, which can effectively buffer the collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an overall structural diagram of a five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint of the present invention;

[0019] Figure 2 It is a structural diagram of the connection between the fixed platform and the components on it and the boom;

[0020] Figure 3 It is a structural diagram of the forearm;

[0021] Figure 4 It is a top view of the rotating joint of the moving platform;

[0022] Figure 5 yes Figure 4 main view.

[0023] The names and reference numerals of the components involved in the above drawings are as follows:

[0024] Upper end driving rope 1, lower end driving rope 2, brake line outer tube 3, moving platform rotating joint 4, boom 5, fixed platform 6, outer motor 7, inner motor 8, winch 9, pulley 10, pulley support seat 11, driving rope fixed support 12, boom connecting rod 13, boom rotating joint 14, boom fixed seat 15, support rod 16, forearm rotating joint 17, short connecting rod 18, forearm connecting rod 19, forearm joint 20, moving platform connecting joint 21, moving platform 22, end effector 23, passive rope 24, rotating joint driving rope 25, forearm 26. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] Specific implementation method 1: Figure 1-Figure 5 As shown, this embodiment discloses a five-degree-of-freedom robot based on a Delta parallel mechanism and a tensegrity joint, including a fixed platform 6, a moving platform rotation joint 4, three groups of boom drive ropes, nine motors, six pulley support seat assemblies, three booms 5, three small arms 26 and three boom fixing seats 15; each group of drive ropes includes an upper end drive rope 1 and a lower end drive rope 2; the nine motors are six inner peripheral motors 8 and three outer peripheral motors 7;

[0027] A winch 9 is fixedly mounted on the output end of each motor. The nine motors can be detachably fixed and mounted on the fixed platform 6. The six inner motors 8 are equally divided into three groups and evenly distributed. Three boom fixing seats 15 are fixed at the outer edge of the fixed platform 6 corresponding to the three groups of inner motors 8. Two pulley support seat assemblies are symmetrically fixed at the upper and lower ends of each boom fixing seat 15. One end of the boom 5 is rotatably connected to the boom fixing seat 15 (through a pin shaft), thereby forming a boom rotation joint (three grooves are provided at the outer edge of the fixed platform 6 corresponding to the three groups of inner motors 8, the three boom fixing seats 15 are fixed in the three grooves, one end of the three booms 5 is arranged in the three grooves, and one end of each boom 5 is rotatably connected to the corresponding boom fixing seat 15 through a pin shaft); each group The winches 9 on the two inner motors 8 are respectively fixedly connected to one end of the upper drive rope 1 and the lower drive rope 2 of a corresponding set of boom drive ropes, and the upper drive rope 1 and the lower drive rope 2 respectively pass around the pulleys 10 on the corresponding pulley support seat assembly and are fixedly connected to the upper surface fixed end and the lower surface fixed end of the other end of the boom 5, the other end of the boom 5 is rotatably connected to one end of the forearm 26, and the other end of the forearm 26 is rotatably connected to the moving platform 22 of the moving platform rotating joint 4, the winches 9 of the three outer motors 7 are respectively fixedly connected to one end of the three rotating joint drive ropes 25 of the moving platform rotating joint 4, and the other ends of the three rotating joint drive ropes 25 are all fixedly connected to the end actuator 23 of the moving platform rotating joint 4.

[0028] Furthermore, the six pulley support seat assemblies all include a support rod 16, a pulley support seat 11 and a pulley 10; the pulley support seat 11 is a U-shaped groove structure, and the pulley 10 is rotatably installed in the U-shaped groove of the pulley support seat 11 (the pulley 10 is rotatably installed on the axle through a bearing, and the axle is fixedly connected to the two side walls of the U-shaped groove of the pulley support seat 11), the bottom surface of the pulley support seat 11 is fixedly connected to one end of the support rod 16, and the other end of the support rod 16 is fixedly connected to the corresponding end surface of the upper arm fixing seat 15.

[0029] Furthermore, the three booms 5 all include a driving rope fixed support 12, a boom connecting rod 13 and a boom rotating joint 14; the boom rotating joint 14 is rotatably connected to the boom fixed support 15 (through a pin shaft) to form a boom rotating joint; the two ends of the boom connecting rod 13 are respectively fixedly connected to the boom rotating joint 14 and the driving rope fixed support 12 (the boom connecting rod 13 and the boom rotating joint 14 are fixed by hot melt adhesive); the upper end driving rope 1 passes around the corresponding pulley 10 and is fixedly connected to the fixed end on the upper surface of the driving rope fixed support 12, and the lower end driving rope 2 passes around the corresponding pulley 10 and is fixedly connected to the fixed end on the lower surface of the driving rope fixed support 12.

[0030] Furthermore, the three forearms 26 each include four forearm rotating joints 17, two short connecting rods 18, two forearm connecting rods 19 and four forearm joints 20; the two forearm connecting rods 19 are arranged in parallel, and a forearm joint 20 is fixed at each end of the two forearm connecting rods 19, each forearm joint 20 penetrates into an open groove provided in the middle of the corresponding forearm rotating joint 17, and the forearm joint 20 is rotatably connected with the forearm rotating joint 17 (a bearing hole is provided on the forearm joint 20, and an axial hole is provided on the forearm rotating joint 17, and the bearing hole and the axial hole are coaxially arranged, and the forearm joint 20 A bearing is fixed in the bearing hole, and an axis head is fixed in the middle of the bearing, and the axis head is rotatably arranged in the axis hole of the forearm rotating joint 17). The two forearm rotating joints 17 located at the same end of the two forearm connecting rods 19 are symmetrically arranged, and a short connecting rod 18 is fixedly connected between the two forearm rotating joints 17. The driving rope fixing support 12 is arranged between the two forearm rotating joints 17, and the driving rope fixing support 12 is rotatably connected to the short connecting rod 18. The upper arm 5 and the forearm 26 can move relative to each other, and a rotating joint is formed by driving the rope fixing support 12 and the short connecting rod 18.

[0031] Furthermore, the moving platform rotation joint 4 includes a moving platform 22, an end effector 23, three moving platform connecting joints 21, three passive ropes 24 and three rotating joint driving ropes 25; the moving platform 22 is arranged directly below the fixed platform 6, a central through hole is arranged in the middle of the moving platform 22, the end effector 23 is arranged at the central through hole of the moving platform 22, three moving platform connecting joints 21 are evenly distributed and fixed around the moving platform 22, each moving platform connecting joint 21 is rotatably connected to the short connecting rod 18 at the other end of the corresponding forearm 26, and three driving rope connecting holes 1 and three passive rope connecting holes 1 are evenly distributed near the periphery of the moving platform 22. The three driving rope connecting holes and the three passive rope connecting holes 1 are alternately and evenly arranged. The upper and lower end surfaces of the end effector 23 are respectively provided with three passive rope connecting holes 2 and three driving rope connecting holes 2. The three passive rope connecting holes 1 and the three passive rope connecting holes 2 are arranged in a one-to-one correspondence. Every two corresponding passive rope connecting holes 1 and passive rope connecting holes 2 are fixedly connected to the two ends of the passive rope 24 (by knotting). The other end of each rotating joint driving rope 25 passes through the driving rope connecting holes on the fixed platform 6 and the moving platform 22 and is fixedly connected to the driving rope connecting hole 2 of the end effector 23 (by knotting).

[0032] Furthermore, the other end of each rotating joint driving rope 25 passes through the driving rope connecting hole 1 on the fixed platform 6 and the moving platform 22 and the brake line outer tube 3 and is fixedly connected to the driving rope connecting hole 2 of the end effector 23 (by tying a knot).

[0033] The robot of the present invention is driven by rope drive. The movement of three groups of boom driving ropes is controlled by three groups of inner peripheral motors 8 fixed on the fixed platform 6 and installed with winches 9. The upper driving rope 1 and the lower driving rope 2 in each group respectively pass through the pulleys 10 in the two pulley support seats 11 symmetrically arranged up and down and are finally fixed on the fixed ends of the upper and lower surfaces of the driving rope fixed support 12. The two pulley support seats 11 are fixedly connected to the upper and lower end surfaces of the boom fixing seat 15 through two support rods 16. The boom fixing seat 15 is fixed to the outer edge of the fixed platform 6. Each group of boom driving ropes is fixedly connected to the winch 9 of the inner peripheral motor 8 of the corresponding group. The boom 5 rotates relative to the boom fixing seat 15 through the boom rotating joint 14 to form a rotating joint. The inner peripheral motor 8 outputs torques of different sizes, so that the upper and lower boom driving ropes in each group are opposed to each other due to the different tensions they are subjected to, forming the rotation of the boom 5.

[0034] The relative movement between the upper arm 5 and the lower arm 26 is formed by driving the rope fixing support 12 and the short connecting rod 18 to form a rotating joint around the central axis of the short connecting rod 18, and the lower arm rotating joint 17 and the lower arm joint 20 form a rotating joint around the axis of the shaft hole of the lower arm rotating joint 17 connecting the upper arm 5 and the lower arm 26. The ball joint motion relationship between the upper arm 5 and the lower arm 26 is replaced by these two rotating pairs. This structure has a larger motion range and is more flexible than the ball joint. The lower arm 26 and the moving platform 22 form a rotating joint around the central axis of the short connecting rod 18 through the moving platform connecting joint 21 and the short connecting rod 18. The rotation of the upper arm 5 is controlled by the upper driving rope 1 and the lower driving rope 2, and the lower moving platform 22 is driven to move through the passive joints between the upper arm 5 and the forearm 26 and between the forearm 26 and the moving platform 22 (referring to the rotating joints in two directions formed by the driving rope fixed support 12 and the short connecting rod 18 and the forearm rotating joint 17 and the forearm joint 20, and the rotating joint formed by the short connecting rod 18 and the moving platform connecting joint 21).

[0035] The two-degree-of-freedom tensioned integral moving platform rotation joint structure is as follows Figure 4 , Figure 5 As shown, three driving rope connecting holes 1 and three passive rope connecting holes 1 are evenly distributed near the periphery of the moving platform 22. The three passive rope connecting holes 1 are fixedly connected to one ends of the three passive ropes 24, and the other ends of the three passive ropes 24 are fixedly connected to the three passive rope connecting holes 2 on the end effector 23. The moving part of the tensioned moving platform rotating joint, that is, the upper end of the end effector 23, is connected to the passive ropes 24 through the three passive rope connecting holes 2 to constrain its movement. One ends of the three rotating joint driving ropes 25 are fixed to the winches 9 of the three peripheral motors 7, and the other ends of the three rotating joint driving ropes 25 pass through the fixed platform 6, the driving rope connecting hole 1 on the moving platform 22 and the brake line outer tube 3, and are fixedly connected to the driving rope connecting hole 2 of the end effector 23 (by knotting).

[0036] The rotational joint of the tensioned integral dynamic platform limits the rotational movement along the axial direction of the end effector 23 through the passive rope 24. Considering that the rotational freedom along the x and y axes is far more important than the axial rotational freedom along the z axis in the actual assembly process, this structural design can meet the needs of the assembly process.

[0037] The five-degree-of-freedom parallel robot of the present invention can be applied to precision shaft-hole assembly, and the addition of a manipulator fixture at the end can be more widely used in precision clamping, transportation and other tasks in the field of industrial manufacturing. The hollow structure that runs through the whole body carries pipelines and has the characteristics of effectively buffering collisions, which can be applied to tasks such as aerial docking in the field of aerospace.

[0038] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0039] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint, characterized in that: It comprises a fixed platform (6), a movable platform rotating joint (4), three groups of boom drive ropes, nine motors, six pulley support seat assemblies, three booms (5), three small arms (26) and three boom fixing seats (15); each group of drive ropes comprises an upper end drive rope (1) and a lower end drive rope (2); the nine motors are six inner peripheral motors (8) and three outer peripheral motors (7); A winch (9) is fixedly mounted at the output end of each motor. The nine motors can be detachably fixedly mounted on the fixed platform (6). The six inner motors (8) are equally divided into three groups and evenly arranged. Three boom fixing seats (15) are fixed at the outer edge of the fixed platform (6) corresponding to the three groups of inner motors (8). Two pulley support seat assemblies are symmetrically fixed at the upper and lower ends of each boom fixing seat (15). One end of the boom (5) is rotatably connected to the boom fixing seat (15), thereby forming a boom rotation joint. The winches (9) on the two inner motors (8) in each group are respectively fixedly connected to one end of the upper drive rope (1) and the lower drive rope (2) of a corresponding group of boom drive ropes. The upper end driving rope (1) and the lower end driving rope (2) are respectively passed around the pulleys (10) on the corresponding pulley support seat assembly and are fixedly connected to the upper surface fixed end and the lower surface fixed end of the other end of the upper arm (5); the other end of the upper arm (5) is rotationally connected to one end of the lower arm (26); the other end of the lower arm (26) is rotationally connected to the moving platform (22) of the moving platform rotating joint (4); the winches (9) of the three peripheral motors (7) are respectively fixedly connected to one end of the three rotating joint driving ropes (25) of the moving platform rotating joint (4); the other ends of the three rotating joint driving ropes (25) are all fixedly connected to the end effector (23) of the moving platform rotating joint (4).

2. A five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint according to claim 1, characterized in that: The six pulley support seat assemblies all include a support rod (16), a pulley support seat (11) and a pulley (10); the pulley support seat (11) is a U-shaped groove structure, the pulley (10) is rotatably mounted in the U-shaped groove of the pulley support seat (11), the bottom surface of the pulley support seat (11) is fixedly connected to one end of the support rod (16), and the other end of the support rod (16) is fixedly connected to the corresponding end surface of the upper arm fixing seat (15).

3. The five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint according to claim 1, characterized in that: The three booms (5) each include a driving rope fixing support (12), a boom connecting rod (13) and a boom rotating joint (14); the boom rotating joint (14) is rotatably connected to the boom fixing seat (15), thereby forming a boom rotating joint; The two ends of the boom connecting rod (13) are respectively fixedly connected to the boom rotating joint (14) and the driving rope fixing support (12); the upper end driving rope (1) passes over the corresponding pulley (10) and is fixedly connected to the upper surface fixed end of the driving rope fixing support (12); the lower end driving rope (2) passes over the corresponding pulley (10) and is fixedly connected to the lower surface fixed end of the driving rope fixing support (12).

4. A five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint according to claim 3, characterized in that: The three forearms (26) each include four forearm rotating joints (17), two short connecting rods (18), two forearm connecting rods (19) and four forearm joints (20); the two forearm connecting rods (19) are arranged in parallel, and a forearm joint (20) is fixed at each end of the two forearm connecting rods (19); each forearm joint (20) is inserted into an open groove provided in the middle of the corresponding forearm rotating joint (17); the forearm joint (20) is rotatably connected to the forearm rotating joint (17), and is located between the two forearms. The two forearm rotating joints (17) at the same end of the connecting rod (19) are symmetrically arranged, and a short connecting rod (18) is fixedly connected between the two forearm rotating joints (17). The driving rope fixing support (12) is arranged between the two forearm rotating joints (17). The driving rope fixing support (12) is rotatably connected to the short connecting rod (18). The upper arm (5) and the forearm (26) can move relative to each other, and a rotating joint is formed by the driving rope fixing support (12) and the short connecting rod (18).

5. The five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint according to claim 4, characterized in that: The moving platform rotation joint (4) comprises a moving platform (22), an end effector (23), three moving platform connecting joints (21), three passive ropes (24) and three rotating joint driving ropes (25); the moving platform (22) is arranged directly below the fixed platform (6); a central through hole is arranged in the middle of the moving platform (22); the end effector (23) is arranged at the central through hole of the moving platform (22); three moving platform connecting joints (21) are evenly distributed and fixed around the moving platform (22); each moving platform connecting joint (21) is rotationally connected to a short connecting rod (18) at the other end of a corresponding small arm (26); three driving ropes are evenly distributed near the periphery of the moving platform (22); The three driving rope connecting holes and the three passive rope connecting holes are arranged alternately and evenly. The upper and lower end surfaces of the end effector (23) are respectively provided with three passive rope connecting holes and three driving rope connecting holes. The three passive rope connecting holes and the three passive rope connecting holes are arranged one by one. Every two corresponding passive rope connecting holes and passive rope connecting holes are fixedly connected to the two ends of the passive rope (24). The other end of each rotating joint driving rope (25) passes through the driving rope connecting holes on the fixed platform (6) and the moving platform (22) and is fixedly connected to the driving rope connecting hole 2 of the end effector (23).

6. A five-degree-of-freedom robot based on a Delta parallel mechanism and a moving platform rotation joint according to claim 5, characterized in that: The other end of each rotating joint driving rope (25) passes through the driving rope connecting hole 1 on the fixed platform (6) and the moving platform (22) and the brake line outer tube (3) and is fixedly connected to the driving rope connecting hole 2 of the end effector (23).

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