A combined drive multi-degree-of-freedom parallel robot

Abstract

The application discloses a combined driving type multi-freedom degree parallel robot, which comprises a fixed platform, a movable platform, driving motors, speed reducers and four branch chains connected between the fixed platform and the movable platform; the movable platform comprises a movable platform outer ring and a movable platform inner ring which are rotationally matched; the first connecting end of the first, second and third branch chains respectively obtains power of one driving motor through one speed reducer fixed on the fixed platform; the second connecting end of the first, second and third branch chains is connected with a left side plate of one speed reducer fixed on the fixed platform; the third connecting end of the first, second and third branch chains is connected with three vertexes of the movable platform outer ring; the first connecting end of the fourth branch chain is connected with one driving motor through one speed reducer; the second connecting end of the fourth branch chain is connected with one driving motor fixed on the fixed platform through one speed reducer; and the third connecting end of the fourth branch chain is connected with the movable platform inner ring. The two-degree-of-freedom rotation of the movable platform is realized through the fourth branch chain, and the three-degree-of-freedom translation realized by the surrounding three branch chains is matched to realize five-degree-of-freedom movement.

Description

Technical Field

[0001] This invention relates to a combined-drive multi-degree-of-freedom parallel robot, belonging to the field of industrial robot technology. Background Technology

[0002] With the development of industrial production and the intensification of market competition, enterprises have increasingly higher requirements for production efficiency and quality. Traditional manual operations cannot meet the needs of large-scale, high-efficiency, and high-precision production. Therefore, it is necessary to introduce automated equipment to improve production efficiency and stability. The emergence of industrial robots has replaced humans at certain technical levels. Compared with manual operation, they have higher safety and stability. Therefore, industrial robots have good application prospects in assembly, sorting, electronics and machining. Common types of industrial robots include serial robots and parallel robots. Compared with serial robots, parallel robots have higher rigidity, load capacity and motion flexibility. Therefore, they have better application prospects in situations requiring high precision, high speed, complex motion and heavy load operations.

[0003] However, in traditional parallel robots, the active arm is directly connected to the reducer, and the motor drives the reducer to move the active arm. The other end of the active arm is connected to the driven arm, thus driving the entire robot to complete industrial production tasks. Since the active arm of a parallel robot is generally a single link, it has no buffering effect on the impact transmitted from external loads. This means that the impact of external loads is directly transmitted to the drive motor through the active arm, causing a huge impact on the drive motor and reducing its lifespan. Furthermore, the excessive impact on the entire robot can also cause instability during operation, reducing the robot's operational accuracy. Secondly, most current high-speed parallel robots have few degrees of freedom, making them unsuitable for complex operations requiring more degrees of freedom. Summary of the Invention

[0004] This invention provides a combined-drive multi-degree-of-freedom parallel robot, which combines a combined-drive robotic arm with one branch using a dual-power method, enabling multi-degree-of-freedom motion of the moving platform.

[0005] The technical solution of this invention is:

[0006] A combined-drive multi-degree-of-freedom parallel robot includes a fixed platform, a moving platform, a drive motor, a reducer, and four branches connected in parallel between the fixed platform and the moving platform. The moving platform includes an outer ring and an inner ring that rotate in conjunction with each other. The four branches consist of a first branch, a second branch, a third branch, and a fourth branch. The first connecting ends of the first, second, and third branches each obtain power from a drive motor via a reducer fixed to the fixed platform. The second connecting ends of the first, second, and third branches are respectively connected to the left side plate of a reducer fixed to the fixed platform. The third connecting ends of the first, second, and third branches are connected to the three vertices of the outer ring of the moving platform. The fourth branch is located at the center of the fixed platform and the moving platform. The first connecting end of the fourth branch is connected to a drive motor via a reducer, and the second connecting end of the fourth branch is connected to a drive motor fixed to the fixed platform via a reducer. The third connecting end of the fourth branch is connected to the inner ring of the moving platform.

[0007] The first, second, and third branches have identical structures. The first connecting ends of the first, second, and third branches are distributed at the midpoints of the three sides of a fixed platform forming an equilateral triangle, while the third connecting ends are distributed at the three vertices of a moving platform forming an equilateral triangle. The three branches are equidistantly distributed. Each of the first, second, and third branches includes a combined driving active arm, a first composite hinge, a driven arm, and a ball joint connected in sequence. The first input end of the combined driving active arm serves as the first, second, and third branches. The first connecting end of the three-branch chain, and the second input end of the combined drive active arm serve as the second connecting end of the first branch, the second branch, and the third branch; the first input end of the combined drive active arm is fixedly connected to the reducer, the second input end of the combined drive active arm is fixedly connected to the left side plate of the reducer, the first output end of the combined drive active arm is fixedly connected to the first end of the first composite hinge, the second output end of the combined drive active arm is fixedly connected to the second end of the first composite hinge, and the third end of the first composite hinge is connected to the driven arm.

[0008] The combined drive arm includes a crank, a connecting rod, a first sliding arm, and a first sliding cylinder. One end of the crank serves as the first input end and is fixedly connected to the reducer. The other end of the crank is connected to one end of the connecting rod via a revolute joint. The other end of the connecting rod serves as the first output end and is fixedly connected to the first end of the first compound hinge. One end of the first sliding cylinder serves as the second input end and is fixed together with the left side plate of the reducer. One end of the first sliding arm is fitted onto the other end of the first sliding cylinder to form a telescopic cylinder structure. The other end of the first sliding arm serves as the second output end and is fixedly connected to the second end of the first compound hinge. The first compound hinge is connected to one end of a ball joint fixed at the top of the moving platform via a driven arm. The other end of the ball joint serves as the third connection end of the first branch, the second branch, and the third branch.

[0009] The first composite hinge includes a first U-shaped hinge and a second U-shaped hinge. One end of the first U-shaped hinge and one end of the second U-shaped hinge are connected by a second pin and are rotatably engaged. The other end of the second U-shaped hinge serves as the first end and is connected to the connecting rod in the combined drive active arm. The other end of the first U-shaped hinge serves as the second end and is connected to the first sliding arm in the combined drive active arm. A groove is provided on the outer circumference of the second pin along the axial direction. A first pin is fixed in the groove and installed perpendicular to the groove opening. The first pin passes through the hinge end with a through hole. The other end of the hinge serves as the third end and is connected to the driven arm.

[0010] The fourth branch includes a second composite hinge, a second slide cylinder, a second slide arm, and a Hooke hinge connected in sequence; the first end of the second composite hinge serves as the first connecting end of the fourth branch, and the second end of the second composite hinge serves as the second connecting end of the fourth branch; the first end of the second composite hinge is connected to one end of the fifth reducer, and the other end of the fifth reducer is connected to the fifth drive motor; the second end of the second composite hinge is connected to one end of the fourth reducer, and the other end of the fourth reducer is connected to the fourth drive motor vertically fixed on the fixed platform; the third end of the second composite hinge is fixed to one end of the second slide cylinder, and one end of the second slide arm is fitted onto the other end of the second slide cylinder to form a telescopic cylinder structure; the other end of the second slide arm is connected to the Hooke hinge fixed on the inner ring of the moving platform.

[0011] The second composite hinge includes a third U-shaped hinge, an O-shaped hinge, a first L-shaped thin plate, a fourth pin, and a second L-shaped thin plate. One end of the fourth reducer is connected to one end of the third U-shaped hinge, which serves as the second end of the second composite hinge. The other end of the third U-shaped hinge is rotatably connected to the third pins arranged radially on both sides of the O-shaped hinge. One end of the fifth reducer is fixed to one end of the first L-shaped thin plate, which serves as the first end of the second composite hinge. The other end of the first L-shaped thin plate is connected to one end of the second L-shaped thin plate via the fourth pin. One end of the O-shaped hinge serves as the third end of the second composite hinge and is rotatably engaged with the other end of the second L-shaped thin plate, passing through a through hole at the other end of the second L-shaped thin plate for connection with the second slide cylinder.

[0012] The beneficial effects of this invention are as follows: The invention has a simple structure. By configuring a set of combined drive mechanisms at each end of the three branches surrounding the fixed platform to act as the active arm, it provides a more stable mechanical output, higher precision, stronger load capacity, and more efficient conversion function compared to traditional drive methods. Furthermore, this combined drive mechanism drives the linear motion of the sliding arm through the rotation of the crank, and finally achieves robot motion through the rotation of the hinge, providing a larger workspace. The central fourth branch enables two degrees of freedom rotation of the moving platform, which, in conjunction with the three degrees of freedom translation achieved by the surrounding three branches, enables five degrees of freedom motion, adapting to complex operations under various working conditions and offering greater flexibility. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 This is a schematic diagram showing the connection between a single branch and its corresponding drive motor and moving platform.

[0015] Figure 3 A disassembly diagram of the side plate of a single-chain reducer;

[0016] Figure 4 This is a schematic diagram of the first composite hinge structure;

[0017] Figure 5 A schematic diagram showing the connection between the fourth branch and the fixed and moving platforms;

[0018] Figure 6 Schematic diagram for determining the slot angle of the platform;

[0019] Figure 7 This is a schematic diagram of the second composite hinge structure;

[0020] The labels in the diagram are as follows: 1-Fixed platform, 2-Crank, 3-Connecting rod, 4-1-First slide cylinder, 4-2-First slide arm, 5-First compound hinge, 5-1-First U-shaped hinge, 5-2-Second U-shaped hinge, 5-3-Hinge, 5-4-First pin, 5-5-Second pin, 8-Moving platform, 8-1-Outer ring of moving platform, 8-2-Inner ring of moving platform, 9-Hooke hinge, 10-Second slide arm, 11-Second slide cylinder, 12-Second compound hinge, 12-1-Third pin, 12-2-Third U-shaped hinge, 12-3 -O-shaped hinge, 13-1-First drive motor, 13-2-Second drive motor, 13-3-Third drive motor, 13-4-Fourth drive motor, 13-5-Fifth drive motor, 14-1-First reducer, 14-2-Second reducer, 14-3-Third reducer, 14-4-Fourth reducer, 14-5-Fifth reducer, 15-1-Left side plate of reducer, 15-2-Right side plate of reducer, 16-1-First L-shaped thin plate, 16-2-Second L-shaped thin plate, 16-3-Fourth pin. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0022] Example 1: As Figure 1-7As shown, a combined-drive multi-degree-of-freedom parallel robot includes a fixed platform 1, a moving platform 8, five drive motors, five reducers, and four branches connected in parallel between the fixed platform 1 and the moving platform 8. The moving platform 8 includes an outer ring 8-1 and an inner ring 8-2, which rotate in conjunction with each other. The four branches consist of a first branch, a second branch, a third branch, and a fourth branch. The first connecting ends of the first branch, the second branch, and the third branch respectively obtain power from a drive motor through a reducer fixed on the fixed platform 1. The second connecting ends of the first, second, and third branches are respectively connected to the left side plate 15-1 of a reducer fixed on the fixed platform 1. The third connecting ends of the first, second, and third branches are connected to the three vertices of the outer ring 8-1 of the moving platform. The fourth branch is distributed at the center of the fixed platform 1 and the moving platform 8. The first connecting end of the fourth branch is connected to a drive motor via a reducer, and the second connecting end of the fourth branch is connected to a drive motor fixed on the fixed platform via a reducer. The third connecting end of the fourth branch is connected to the inner ring 8-2 of the moving platform. Applying the above technical solution, it can be seen that by connecting the first, second, third, and fourth branches to the fixed platform 1 and the moving platform 8 respectively, a spatial parallel closed-loop mechanism is formed, so as to realize three translational degrees of freedom and two rotational degrees of freedom by driving the moving platform 8 together through five drive motors.

[0023] Furthermore, the fixed platform and the moving platform are both equilateral triangle structures with chamfered edges. The fixed platform has identical groove structures at the midpoints of its three sides. The moving platform consists of an inner ring and an outer ring, with the inner ring capable of rotating relative to the outer ring.

[0024] Furthermore, the first, second, and third branches have identical structures. The first connecting ends of the first, second, and third branches are distributed at the midpoints of the three sides of the fixed platform 1, which forms an equilateral triangle. The third connecting ends of the first, second, and third branches are distributed at the three vertices of the moving platform 8, which also forms an equilateral triangle. The three sets of branches are equidistantly distributed. Each of the first, second, and third branches includes a combined driving active arm, a first composite hinge 5, a driven arm 6, and a ball joint 7 connected in sequence. The first input end of the combined driving active arm serves as the first, second, and third branches. The first connecting end of the third branch and the second input end of the combined drive active arm serve as the second connecting ends of the first, second, and third branches. The first input end of the combined drive active arm is fixedly connected to the reducer, and the second input end of the combined drive active arm is fixedly connected to the left side plate 15-1 of the reducer. The first output end of the combined drive active arm is fixedly connected to the first end of the first composite hinge 5, and the second output end of the combined drive active arm is fixedly connected to the second end of the first composite hinge 5. The third end of the first composite hinge 5 is fixedly connected to the driven arm 6. Specifically, the first branch obtains power from the first drive motor 13-1 via the first reduction motor 14-1, the second branch obtains power from the second drive motor 13-2 via the first reduction motor 14-2, and the third branch obtains power from the third drive motor 13-3 via the third reduction motor 14-3.

[0025] Furthermore, the combined drive arm includes a crank 2, a connecting rod 3, a first sliding arm 4-2, and a first sliding cylinder 4-1. One end of the crank 2 is fixedly connected to the reducer as the first input end, and the other end of the crank 2 is connected to one end of the connecting rod 3 through a rotary joint. The other end of the connecting rod 3 is fixedly connected to the first end of the first composite hinge 5 as the first output end. One end of the first sliding cylinder 4-1 is fixed to the left side plate 15-1 of the reducer by bolts using an L-shaped thin plate as the second input end. One end of the first sliding arm 4-2 is fitted onto the other end of the first sliding cylinder 4-1 to form a telescopic cylinder structure, ensuring that the telescopic cylinder structure remains parallel to the fixed platform during connection. The other end of the first sliding arm 4-2 is fixedly connected to the second end of the first composite hinge 5 as the second output end. The first composite hinge 5 is fixedly connected to one end of the driven arm 6, and the other end of the driven arm 6 is fixedly connected to one end of the ball joint 7. The other end of the ball joint 7 is fixed to the vertex of the moving platform 8 as the third connection end of the first branch, the second branch, and the third branch.

[0026] Furthermore, the first composite hinge 5 includes a first U-shaped hinge 5-1 and a second U-shaped hinge 5-2. One end of the first U-shaped hinge 5-1 and one end of the second U-shaped hinge 5-2 are connected by a second pin 5-5 and are rotatably engaged. The other end of the second U-shaped hinge 5-2 serves as the first end and is connected to the connecting rod 3 in the combined drive active arm. The other end of the first U-shaped hinge 5-1 serves as the second end and is connected to the first sliding arm 4-2 in the combined drive active arm. A rectangular groove is provided on the outer periphery of the second pin 5-5 along the axial direction. A first pin 5-4 is fixed in the groove and installed perpendicularly to the groove opening. The first pin 5-4 passes through the end of the hinge 5-3 with a through hole. The other end of the hinge 5-3 serves as the third end and is connected to the driven arm 6. Such a first compound hinge allows the driven arm 6 to rotate relative to the first pin 5-4 and the second pin 5-5. At the same time, since the second pin 5-5 is connected to the first U-shaped hinge 5-1, and the first U-shaped hinge 5-1 is fixed to the first sliding arm 4-2, the first U-shaped hinge 5-1 is translated by the first sliding arm 4-2. Therefore, the driven arm in each branch can independently realize two rotational degrees of freedom and one translational degree of freedom. The same first compound hinge 5 is installed in the first branch, the second branch, and the third branch respectively. The coordinated movement of the three branches can realize the three translational degrees of freedom of the robot's moving platform.

[0027] by Figure 2 The second branch chain is described in detail from the following perspective: The first slide cylinder 4-1 is fixed to the left side plate 15-1 of the reducer with bolts. The left side plate 15-1 and the right side plate 15-2 of the reducer are fixed to the fixed platform 1. The second reduction motor 14-2 is connected to the right side plate 15-2 of the reducer to obtain power from the second drive motor 13-2. The second drive motor 13-2 drives the second reducer 14-2 to rotate the crank 2. The crank 2 is connected to the connecting rod 3 through a rotary joint. Thus, the rotation of the crank 2 drives the connecting rod 3 to rotate relative to the crank 2. The other end of the connecting rod 3 is connected to the first compound hinge 5 (…). Figure 3The second U-shaped hinge 5-2 is connected to the first U-shaped hinge 5-1, which rotates around the second central pin 5-5. The other end of the first U-shaped hinge 5-1 is connected to the first sliding arm 4-2, which is fitted inside the first sliding cylinder 4-1. The first sliding arm 4-2 and the first sliding cylinder 4-1 are combined to form a telescopic cylinder structure, which is fixed to the left side plate 15-1 of the reducer by bolts. The left side plate 15-1 of the reducer is fixed to the fixed platform, so the movement of the connecting rod 3 drives the first sliding arm 4-2 to reciprocate. The second pin 5-5 in the first composite hinge 5 has a rectangular groove in the middle. A first pin 5-4 is fixed in the groove and installed perpendicular to the groove opening. The first pin 5-4 passes through the hinge 5-3 with a through hole, so that the hinge 5-3 can rotate around the first pin 5-4. The coordinated movement of the first composite hinge 5 in the three sets of branches drives the driven arm 6 in each branch to move, thereby realizing the translational movement of the moving platform along the X, Y and Z directions.

[0028] Further, the fourth branch includes a second composite hinge 12, a second slide cylinder 11, a second slide arm 10, and a Hooke hinge 9 connected in sequence; the first end of the second composite hinge 12 serves as the first connecting end of the fourth branch, and the second end of the second composite hinge 12 serves as the second connecting end of the fourth branch; the first end of the second composite hinge 12 is connected to one end of the fifth reducer 14-5, and the other end of the fifth reducer 14-5 is connected to the fifth drive motor 13-5; the fifth drive motor 13-5 utilizes a base plate to connect to a nearby branch. The left and right side plates of the chain reducer are connected together to achieve a fixed connection with the fixed platform. The second end of the second composite hinge 12 is connected to one end of the fourth reducer 14-4, and the other end of the fourth reducer 14-4 is connected to the fourth drive motor 13-4, which is vertically fixed on the fixed platform 1. The third end of the second composite hinge 12 is fixed to one end of the second slide cylinder 11, and one end of the second slide arm 10 is fitted onto the other end of the second slide cylinder 11 to form a telescopic cylinder structure. The other end of the second slide arm 10 is fixed to the Hooke hinge 9, which is fixed on the inner ring 8-2 of the moving platform. Furthermore, one end of the second slide cylinder 11 is provided with a nut that is threadedly connected to the O-ring hinge 12-3 in the second composite hinge 12. The interior of the second slide cylinder 11 has a square groove that slides in cooperation with one end of the square second slide arm 10.

[0029] Further, the second composite hinge 12 includes a third U-shaped hinge 12-2, an O-shaped hinge 12-3, a first L-shaped thin plate 16-1, a fourth pin 16-3, and a second L-shaped thin plate 16-2; one end of the fourth reducer 14-4 is connected to one end of the third U-shaped hinge 12-2, which serves as the second end of the second composite hinge 12, and the other end of the third U-shaped hinge 12-2 is rotatably connected to the third pins 12-1 arranged radially on both sides of the O-shaped hinge 12-3; the fifth reducer... One end of the machine 14-5 is fixed to one end of the first L-shaped thin plate 16-1, which serves as the first end of the second composite hinge 12. The other end of the first L-shaped thin plate 16-1 is connected to one end of the second L-shaped thin plate 16-2 via the fourth pin 16-3. One end of the O-shaped hinge 12-3 serves as the third end of the second composite hinge 12 and is rotatably engaged with the other end of the second L-shaped thin plate 16-2. It also passes through the through hole at the other end of the second L-shaped thin plate 16-2 to connect with the second slide cylinder 11.

[0030] Applying the above technical solution, on the one hand, the rotation of the third drive motor 13-4 will drive the rotation of the third U-shaped hinge 12-2, thereby causing the bottom shaft of the O-shaped hinge 12-3 to rotate around the Z-axis, thus realizing the rotation of the second slide cylinder 11 connected to the bottom shaft of the O-shaped hinge 12-3, the second slide arm 10 connected to the second slide cylinder 11, and the inner ring 8-2 of the moving platform connected to the second slide arm 10 around the Z-axis. On the other hand, the O-shaped hinge 12-3 can rotate in the third U-shaped hinge 12-2 through the third pin 12-1, and the torque driving its rotation comes from the fifth drive motor 13-5; the rotation of the fifth drive motor 13-5 drives the rotation of the two L-shaped thin plates, and the torque is transmitted to the O-shaped hinge 12-3, causing the O-shaped hinge 12-3 to rotate in the U-shaped hinge 12-4, thereby driving the moving platform 8 to swing around the X-axis, with a swing angle range of 0 to 90 degrees.

[0031] When the above-mentioned parallel robot is used, its principle is that the output power of the drive motor passes through the reducer and drives the three sets of branches around the fixed platform with combined drive active arms. The combined drive active arms are connected to the driven arms through the first compound hinge, driving the driven arms to move. Thus, the movement of the three sets of branches drives the moving platform to move in space relative to the fixed support, ultimately realizing the spatial displacement of the moving platform along the X, Y, and Z axes. In addition, the movement of the fourth branch in the middle is driven by two drive motors, thereby enabling the coordinated movement of the second compound hinge to drive the moving platform to rotate around the Z-axis and around the X-axis. The entire moving platform can realize five degrees of freedom of motion.

[0032] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A combined-drive multi-degree-of-freedom parallel robot, characterized in that, The system includes a fixed platform, a moving platform, a drive motor, a reducer, and four branches connected in parallel between the fixed platform and the moving platform. The moving platform includes an outer ring and an inner ring that rotate in conjunction with each other. The four branches consist of a first branch, a second branch, a third branch, and a fourth branch. The first connecting ends of the first, second, and third branches each obtain power from a drive motor via a reducer fixed to the fixed platform. The second connecting ends of the first, second, and third branches are respectively connected to the left side plate of a reducer fixed to the fixed platform. The third connecting ends of the first, second, and third branches are connected to the three vertices of the outer ring of the moving platform. The fourth branch is located at the center of the fixed platform and the moving platform. The first connecting end of the fourth branch is connected to a drive motor via a reducer. The second connecting end of the fourth branch is connected to a drive motor fixed to the fixed platform via a reducer. The third connecting end of the fourth branch is connected to the inner ring of the moving platform. The first, second, and third branches have identical structures. The first connecting ends of the first, second, and third branches are distributed at the midpoints of the three sides of a fixed platform forming an equilateral triangle, while the third connecting ends are distributed at the three vertices of a moving platform forming an equilateral triangle. The three branches are equidistantly distributed. Each of the first, second, and third branches includes a combined driving active arm, a first composite hinge, a driven arm, and a ball joint connected in sequence. The first input end of the combined driving active arm serves as the first, second, and third branches. The first connecting end of the three-branch chain, and the second input end of the combined drive active arm serve as the second connecting end of the first branch, the second branch, and the third branch; the first input end of the combined drive active arm is fixedly connected to the reducer, the second input end of the combined drive active arm is fixedly connected to the left side plate of the reducer, the first output end of the combined drive active arm is fixedly connected to the first end of the first composite hinge, the second output end of the combined drive active arm is fixedly connected to the second end of the first composite hinge, and the third end of the first composite hinge is connected to the driven arm; The combined drive arm includes a crank, a connecting rod, a first sliding arm, and a first sliding cylinder. One end of the crank serves as a first input end and is fixedly connected to the reducer. The other end of the crank is connected to one end of the connecting rod via a revolute joint. The other end of the connecting rod serves as a first output end and is fixedly connected to the first end of a first compound hinge. One end of the first sliding cylinder serves as a second input end and is fixed to the left side plate of the reducer. One end of the first sliding arm is fitted onto the other end of the first sliding cylinder to form a telescopic cylinder structure. The other end of the first sliding arm serves as a second output end and is fixedly connected to the second end of the first compound hinge. The first compound hinge is connected to one end of a ball joint fixed at the top of the moving platform via a driven arm. The other end of the ball joint serves as the third connection end of the first branch, the second branch, and the third branch. The fourth branch includes a second composite hinge, a second slide cylinder, a second slide arm, and a Hooke hinge connected in sequence; the first end of the second composite hinge serves as the first connecting end of the fourth branch, and the second end of the second composite hinge serves as the second connecting end of the fourth branch; the first end of the second composite hinge is connected to one end of the fifth reducer, and the other end of the fifth reducer is connected to the fifth drive motor; the second end of the second composite hinge is connected to one end of the fourth reducer, and the other end of the fourth reducer is connected to the fourth drive motor vertically fixed on the fixed platform; the third end of the second composite hinge is fixed to one end of the second slide cylinder, and one end of the second slide arm is fitted onto the other end of the second slide cylinder to form a telescopic cylinder structure; the other end of the second slide arm is connected to the Hooke hinge fixed on the inner ring of the moving platform.

2. The combined-drive multi-degree-of-freedom parallel robot according to claim 1, characterized in that, The first composite hinge includes a first U-shaped hinge and a second U-shaped hinge. One end of the first U-shaped hinge and one end of the second U-shaped hinge are connected by a second pin and are rotatably engaged. The other end of the second U-shaped hinge serves as the first end and is connected to the connecting rod in the combined drive active arm. The other end of the first U-shaped hinge serves as the second end and is connected to the first sliding arm in the combined drive active arm. A groove is provided on the outer circumference of the second pin along the axial direction. A first pin is fixed in the groove and installed perpendicular to the groove opening. The first pin passes through the hinge end with a through hole. The other end of the hinge serves as the third end and is connected to the driven arm.

3. The combined-drive multi-degree-of-freedom parallel robot according to claim 1, characterized in that, The second composite hinge includes a third U-shaped hinge, an O-shaped hinge, a first L-shaped thin plate, a fourth pin, and a second L-shaped thin plate. One end of the fourth reducer is connected to one end of the third U-shaped hinge, which serves as the second end of the second composite hinge. The other end of the third U-shaped hinge is rotatably connected to the third pins arranged radially on both sides of the O-shaped hinge. One end of the fifth reducer is fixed to one end of the first L-shaped thin plate, which serves as the first end of the second composite hinge. The other end of the first L-shaped thin plate is connected to one end of the second L-shaped thin plate via the fourth pin. One end of the O-shaped hinge serves as the third end of the second composite hinge and is rotatably engaged with the other end of the second L-shaped thin plate, passing through a through hole at the other end of the second L-shaped thin plate for connection with the second slide cylinder.

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