Parallel transfer robot comprising coaxial line driving joints and operation method of parallel transfer robot

Abstract

The invention relates to a transfer robot, in particular to a parallel transfer robot with coaxial driving joints and an operation method of the parallel transfer robot. Comprising a first guide part, a second guide part, a first moving part, a second moving part, a third moving part, a first moving connecting rod, a second moving connecting rod, a third moving connecting rod and a tail end execution part. Wherein the first moving part is installed on the first guide part, the second moving part and the third moving part are installed on the second guide part and are arranged front and back, the first moving connecting rod and the second moving connecting rod are parallelogram mechanisms, the third moving connecting rod is a single-connecting-rod mechanism, and the front end of the third moving connecting rod is connected with the tail end executing part in parallel through a rotating joint. The rear ends are respectively connected with the moving parts through rotating joints; and the positions of the first moving part, the second moving part and the third moving part on the first guide part and the second guide part are adjusted, and the position of the tail end executing part is adjusted. The connecting rod structure of the parallel transfer robot facilitates reduction of the overall weight of the robot, the coaxial driving joints facilitate reduction of the number of guide rails, and the cost is reduced; a parallel mechanism is adopted as a core structure, and the rigidity and movement flexibility of the robot are improved.

Description

Technical Field

[0001] The invention relates to a transfer robot, in particular to a parallel transfer robot with coaxial drive joints and an operation method thereof. Background Art

[0002] Transfer robots are indispensable automated intelligent equipment in modern manufacturing, and are widely used in material transfer in industries such as construction, petrochemicals, and food. Transfer robots are not only required to have high mobility, large operating space, and strong environmental adaptability, but also to have higher requirements on their load capacity and dynamic characteristics.

[0003] The robots that can be used for transportation disclosed in patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1 all adopt a series structure, have a low load-to-weight ratio, and poor static and dynamic performance, and cannot meet the high efficiency requirements of heavy-load transportation.

[0004] The transfer robots disclosed in patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A are based on parallel mechanisms, but the driving joints adopt a rotational drive solution with a long lever arm, which makes it difficult to meet the needs of a wide range of heavy-load transfer applications. Summary of the invention

[0005] In view of the above problems, the present invention provides a parallel transfer robot with coaxial drive joints and an operation method thereof, so as to realize the manufacture of a parallel transfer robot with coaxial drive joints having high cost performance, high load-to-weight ratio and large motion space.

[0006] The technical solution adopted by the present invention is: The parallel transfer robot with coaxial drive joints of the present invention comprises a truss structure, a guide part installed on the truss structure, a plurality of moving parts, a plurality of connecting rods and an end execution part. The middle of the truss structure is a transfer channel that penetrates through it. The guide parts are a first guide part and a second guide part, which are provided with a linear guide rail. The first guide part is installed on the top of the truss structure, and the second guide part is installed on the side of the truss structure. The first moving part is installed on the linear guide rail of the first guide part, the second moving part and the third moving part are installed on the linear guide rail of the second guide part one after the other, and the first moving part, the second moving part and the third moving part are respectively provided with a linear driving part; The linear drive unit drives the first moving part to move linearly along the linear guide rail of the first guide part, and the second moving part and the third moving part are installed on the second guide part in a front-to-back arrangement, and the linear drive unit drives the second moving part and the third moving part to move linearly along the linear guide rail of the second guide part; The first motion link, the second motion link, and the third motion link are connected in parallel with the end effector. The front end rod of the first motion link is connected to the end effector via a rotary joint a installed on the end effector, and the rear end rod is connected to the first moving part via a rotary joint b installed on the first moving part; The front end rod of the second motion link is connected to the end effector via a rotary joint c installed on the end effector, and the rear end rod is connected to the second moving part via a rotary joint d installed on the second moving part; The front T-shaped shaft of the third motion link is connected to the end effector via a rotary joint e installed on the end effector, and the rear T-shaped shaft is connected to the third moving part via a rotary joint f installed on the third moving part; The rotation centers of the rotary joint a and the rotary joint c are arranged vertically, the rotation centers of the rotary joint c and the rotary joint e are arranged parallelly, the rotary joint c is located at the far end of the second guide portion relative to the rotary joint e, the first motion link is provided with two parallel links, and the two links are respectively hingedly connected to the two ends of the rotary joint a, and the second motion link is provided with two parallel links, and the two links are respectively hingedly connected to the two ends of the rotary joint c; By adjusting the position of the first moving part on the first guide part, and the positions of the second moving part and the third moving part on the second guide part, the end effector is adjusted to move up, down, left, right, and forward and backward toward one side.

[0007] According to the parallel transfer robot with coaxial drive joints, the guide axes of the linear guide rails of the first guide part and the second guide part are parallel to each other.

[0008] According to the parallel transport robot with coaxial drive joints, the first motion link and the second motion link have the same structure. The first moving link and the second moving link include a rear end rod, a front end rod, an upper end rod, a lower end rod, a rotating pair a, a rotating pair b, a rotating pair c and a rotating pair d. The upper end of the rear end rod is connected to the rear end of the upper end rod through the rotating pair a, the lower end of the rear end rod is connected to the rear end of the lower end rod through the rotating pair d, the upper end of the front end rod is connected to the front end of the upper end rod through the rotating pair b, and the lower end of the front end rod is connected to the front end of the lower end rod through the rotating pair c.

[0009] According to the parallel transfer robot with coaxial drive joints, the third motion link includes a front T-shaped shaft, a rotating pair e, a long connecting rod, a rotating pair f, and a rear T-shaped shaft. The front T-shaped shaft is connected to the front end of the long connecting rod through the rotating pair e, and the rear T-shaped shaft is connected to the rear end of the long connecting rod through the rotating pair f.

[0010] According to the parallel transport robot with coaxial drive joints, the rear end rod, front end rod, upper end rod and lower end rod form a parallelogram mechanism, and the rear end rod and the front end rod are always kept parallel to each other, and the upper end rod and the lower end rod are always kept parallel to each other. The parallelogram mechanism of the first motion link keeps the bottom surface of the end effector parallel to the upper side surface of the truss structure, and the parallelogram mechanism of the second motion link keeps the left and right sides of the end effector parallel to the left and right sides of the truss structure.

[0011] According to the parallel transfer robot with coaxial drive joints, the first moving part and the second moving part have the same structure, including a mounting seat a and a motor a. The motor a is installed on the mounting seat a, and the motor a drives the mounting seat a to move linearly along the guide part.

[0012] According to the parallel transfer robot with coaxial drive joints, the third moving part includes: a mounting seat b and a motor b, wherein the motor b is mounted on the mounting seat b, and the motor b drives the mounting seat b to move linearly along the guide part.

[0013] According to the parallel transfer robot with coaxial drive joints, the motors a of the first moving part and the second moving part, and the motor b of the third moving part are replaced with hydraulic or pneumatic drive structures.

[0014] According to the parallel transfer robot with coaxial drive joints, the end effector is provided with a fixed end and a moving part installation end, and the rotary joint a, rotary joint c and rotary joint e are arranged on a vertical plane of the fixed end.

[0015] The present invention provides an operating method of a parallel transport robot including coaxial drive joints. Taking the truss structure interface which is perpendicular to the guiding directions of the first guide part and the second guide part as the reference plane, The operation steps include the following: The end effector moves back and forth relative to the reference surface: The first moving part, the second moving part and the third moving part move in the same direction and at the same speed along the corresponding guide part, and drive the end actuator to move linearly through the first moving link, the second moving link and the third moving link, that is, to move forward and backward in the truss structure; The end effector moves left and right along the above reference plane: The first moving part does not move relative to the reference plane, the second moving part moves forward along the second guide part, and the second moving link swings backward around the rotation joint d in a radius; the third moving part moves backward along the second guide part or the movement speed of the third moving part along the second guide part is lower than the movement speed of the second moving part along the second guide part, and the third moving link swings forward around the rotation joint f in a radius, and the end effector moves to the left side of the reference plane; The third moving part moves forward along the second guide part, the third moving link swings backward around the rotary joint f to make a radius, the second moving part moves backward along the second guide part or the movement speed of the second moving part along the second guide part is less than the movement speed of the third moving part along the second guide part, and the second moving link swings forward around the rotary joint d to make a radius; at this time, the end effector moves to the right side of the reference plane; The end effector moves up and down along the above reference plane: The first moving part moves forward along the first guide part, and the first moving link swings backward around the rotary joint b; the second moving part and the third moving part are stationary relative to the plane or the moving speed along the second guide part is less than the moving speed of the first moving part along the first guide part, the first moving link swings backward around the rotary joint b, and the end effector moves downward in the plane at this time; The first moving part moves backward along the first guide part, and the first moving link swings forward around the rotary joint b; the second moving part and the third moving part are stationary relative to the plane or the moving speed along the second guide part is greater than the moving speed of the first moving part along the first guide part, the first moving link swings forward around the rotary joint b, and the end effector moves upward in the plane at this time; The above steps are performed synchronously or asynchronously to drive the end effector to move within the truss structure.

[0016] The parallel transport robot with coaxial drive joints of the present invention has the following advantages and positive effects: 1. The first motion link, the second motion link, and the third motion link are connected in parallel with the end effector and driven by the first moving part, the second moving part, and the third moving part. Compared with patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1, the load-to-weight ratio and the static and dynamic stiffness of the end of the rotary robot are improved; 2. By adjusting the positions of the first moving part, the second moving part and the third moving part on the first guide part and the second guide part, the position of the end effector is adjusted, and compared with patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A, the motion range and load capacity of the transfer robot are greatly improved.

[0017] 3. The first moving link, the second moving link and the third moving link all adopt a connecting rod mechanism, which is beneficial to reducing the weight of the robot mechanical body, and the second moving part and the third moving part are simultaneously installed on the second guide part, which is beneficial to reducing the number of guide rails and reducing manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 yes Figure 1 Rear view of Figure 3 It is a schematic diagram of the installation of a parallel transport robot with coaxial drive joints according to the present invention; Figure 4 yes Figure 3 The installation diagram of the coaxial drive joint is included; Figure 5 It is a structural schematic diagram of the first motion link and the second motion link parallelogram mechanism of the present invention; Figure 6 It is a schematic structural diagram of the third motion connecting rod of the present invention.

[0019] In the figure: 1: truss structure, 2: first guide part, 3: second guide part, 4: first moving part, 5: second moving part, 6: third moving part, 7: first moving link, 8: second moving link, 9: third moving link, 10: end actuator, 11: rotation joint b, 12: rotation joint d, 13: rotation joint f, 14: rotation joint a, 15: rotation joint c, 16: rotation joint e, 17: motor a, 18: drive mounting seat a, 19: rear end rod, 20: rotation pair a, 21: upper end rod, 22: rotation pair b, 23: front end rod, 24: rotation pair c, 25: lower end rod, 26: rotation pair d, 27: motor b, 28: mounting seat b, 29: rear T-axis, 30: rotation pair f, 31: long connecting rod, 32: rotation pair e, 33: front T-axis. DETAILED DESCRIPTION

[0020] A parallel transport robot with coaxial drive joints of the present invention is described in detail below in conjunction with the embodiments and drawings.

[0021] like Figure 1 , Figure 2 , Figure 3 As shown, a parallel transfer robot with coaxial drive joints of the present invention includes a truss structure 1, a first guide part 2 and a second guide part 3 installed on the truss structure 1, and a first moving part 4, a second moving part 5, a third moving part 6, a first moving link 7, a second moving link 8, a third moving link 9 and an end execution part 10.

[0022] The middle of the truss structure 1 of the present invention is a penetrating transfer channel, and the internal space is unobstructed. The space can be used to place the unloading end of the conveyor line and the carriage to be loaded.

[0023] Linear guide rails are provided on the first guide part 2 and the second guide part 3. The first guide part 2 is installed on the top of the truss structure 1, and the second guide part 3 is installed on the side of the truss structure 1. The guide axes of the linear guide rails of the first guide part 2 and the second guide part 3 of the present invention are parallel to each other. The first motion link 7, the second motion link 8, and the third motion link 9 of the present invention are connected in parallel with the end actuator 10.

[0024] The first moving part 4 is mounted on the linear guide rail of the first guide part 2, the second moving part 5 and the third moving part 6 are mounted on the linear guide rail of the second guide part 3 one after the other, and the first moving part 4, the second moving part 5 and the third moving part 6 are respectively provided with a linear drive part. The linear drive part drives the first moving part 4 to move linearly along the linear guide rail of the first guide part 2, and the linear drive part drives the second moving part 5 and the third moving part 6 to move linearly along the linear guide rail of the second guide part 3.

[0025] The second moving part 5 and the third moving part 6 can move in the same direction under the drive of the linear drive part. The same direction movement can be synchronous movement or asynchronous movement, and can also move in the opposite direction, or one moving part can fix the other moving part to move closer or farther away. The first moving part can move in the same direction as the second moving part 5 and the third moving part 6 at the same time, or can move in different directions at the same time.

[0026] The device adjusts the position of the first moving part 4 on the first guide part 2 and the positions of the second moving part 5 and the third moving part 6 on the second guide part 3 to adjust the end effector 10 to move up, down, left, right, and forward and backward toward one side.

[0027] like Figure 4 , Figure 5 , Figure 6As shown, the first moving link 7 and the second moving link 8 have the same structure, including a rear end rod 19, a front end rod 23, an upper end rod 21, a lower end rod 25, a rotating pair a 20, a rotating pair b 22, a rotating pair c 24 and a rotating pair d 26. The upper end of the rear end rod 19 is connected to the rear end of the upper end rod 21 through a rotating pair a 20, the lower end of the rear end rod 19 is connected to the rear end of the lower end rod 25 through a rotating pair d 26, the upper end of the front end rod 23 is connected to the front end of the upper end rod 21 through a rotating pair b 22, and the lower end of the front end rod 23 is connected to the front end of the lower end rod 25 through a rotating pair c 24.

[0028] The rear end rod 19, the front end rod 23, the upper end rod 21 and the lower end rod 25 form a parallelogram mechanism, which always keeps the rear end rod 19 and the front end rod 23 parallel to each other, and the upper end rod 21 and the lower end rod 25 parallel to each other.

[0029] The third motion link 9 includes a front T-shaped shaft 33, a rotating pair e 33, a long connecting rod 31, a rotating pair f 30, and a rear T-shaped shaft 29. The front T-shaped shaft 33 is connected to the front end of the long connecting rod 31 through the rotating pair e 33, and the rear T-shaped shaft 29 is connected to the rear end of the long connecting rod 31 through the rotating pair f 30.

[0030] Specifically, the front end rod of the first motion link 7 is connected to the end effector 10 via a rotary joint a14 installed on the end effector 10 , and the rear end rod is connected to the first moving part 4 via a rotary joint b11 installed on the first moving part 4 .

[0031] The front end rod of the second motion link 8 is connected to the end effector 10 via a rotary joint c15 installed on the end effector 10 , and the rear end rod is connected to the second moving part 5 via a rotary joint d12 installed on the second moving part 5 .

[0032] The front T-shaped shaft of the third motion link 9 is connected to the end effector 10 via a rotary joint e16 installed on the end effector 10 , and the rear T-shaped shaft is connected to the third moving part 6 via a rotary joint f13 installed on the third moving part 6 .

[0033] The parallelogram mechanism of the first moving link 7 keeps the bottom surface of the end effector 10 parallel to the upper surface of the truss structure 1 , and the parallelogram mechanism of the second moving link 8 keeps the left and right sides of the end effector 10 parallel to the left and right sides of the truss structure 1 .

[0034] In the present device, the first moving part 4 and the second moving part 5 have the same structure, and include a mounting seat a18 and a motor a17. The motor a17 is mounted on the mounting seat a18, and the motor a17 drives the mounting seat a18 to move linearly along the guide portion.

[0035] The third moving part 6 in the device includes: a mounting seat b28 and a motor b27. The motor b27 is mounted on the mounting seat b28, and the motor b27 drives the mounting seat b28 to move linearly along the guide part.

[0036] In the present device, the motors a 17 of the first moving part 4 and the second moving part 5, and the motor b 27 of the third moving part 6 can be replaced by hydraulic or pneumatic drive structures, which are required to achieve controllable moving distance and speed.

[0037] The working process of the present invention is described: The movement process of the end effector 10 is described by taking the truss structure interface which is perpendicular to the guide direction of the first guide part 2 and the second guide part 3 as the reference plane. The operation steps include the following: 1) The end effector 10 moves back and forth relative to the reference surface: The first moving part 4, the second moving part 5 and the third moving part 6 move in the same direction and at the same speed along the corresponding guide part, and drive the end effector 10 to move linearly through the first moving link 7, the second moving link 8 and the third moving link 9, that is, to move forward and backward in the truss structure 1; 2) The end effector 10 moves left and right along the reference plane: The first moving part 4 does not move relative to the reference plane, the second moving part 5 moves forward along the second guide part 3, and the second moving link 8 swings backward around the rotation joint d 12 to make a radius; the third moving part 6 moves backward along the second guide part 3 or the movement speed of the third moving part 6 along the second guide part 3 is lower than the movement speed of the second moving part 5 along the second guide part 3, and the third moving link 9 swings forward around the rotation joint f 13 to make a radius, and at this time, the end effector 10 moves to the left side of the reference plane; The third moving part 6 moves forward along the second guide part 3, the third moving link 9 swings backward around the rotary joint f 13 to make a radius, the second moving part 5 moves backward along the second guide part 3 or the moving speed of the second moving part 5 along the second guide part 3 is lower than the moving speed of the third moving part 6 along the second guide part 3, and the second moving link 8 swings forward around the rotary joint d 12 to make a radius; at this time, the end effector 10 moves to the right side of the reference plane; 3) The end effector 10 moves up and down along the reference plane: The first moving part 4 moves forward along the first guide part 2, and the first moving link 7 swings backward around the rotation joint b 11; the second moving part 5 and the third moving part 6 are stationary relative to the plane or the movement speed along the second guide part 3 is lower than the movement speed of the first moving part 4 along the first guide part 2, the first moving link 7 swings backward around the rotation joint b 11, and the end effector 10 moves downward in the plane at this time; The first moving part 4 moves backward along the first guide part 2, and the first moving link 7 swings forward around the rotating joint b 11; the second moving part 5 and the third moving part 6 are stationary relative to the plane or the moving speed along the second guide part 3 is greater than the moving speed of the first moving part 4 along the first guide part 2, the first moving link 7 swings forward around the rotating joint b 11, and the end effector 10 moves upward in the plane at this time; 4) The above steps 1), 2) and 3) move synchronously or asynchronously, driving the end effector 10 to move in the truss structure 1.

[0038] As the positions of the first moving part 4, the second moving part 5, and the third moving part 6 change, and the angles of the first moving link 7, the second moving link 8, and the third moving link 9 change, the end execution part 10 rotates around the front end link 23 of the first moving link 7 and the second moving link 8, and rotates around the front T-shaped shaft 33 of the third moving link 9, so that the end execution part 10 completes up and down, left and right, and front and back movements.

[0039] The device improves the load-to-weight ratio and the static and dynamic stiffness of the transfer robot; and improves the range of motion and load capacity of the transfer robot. The range of motion and load capacity of the transfer robot are greatly improved. The first motion link, the second motion link, and the third motion link all adopt a connecting rod mechanism, which is conducive to reducing the weight of the robot mechanical body, and the second moving part and the third moving part are simultaneously installed on the second guide part, which is conducive to reducing the number of guide rails and reducing manufacturing costs.

[0040] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A parallel transfer robot with coaxial drive joints, comprising a truss structure (1), a guide portion mounted on the truss structure (1), a plurality of moving portions, a plurality of connecting rods and an end effector (10), wherein: The middle of the truss structure (1) is a transfer channel that runs through it, and the guide parts are a first guide part (2) and a second guide part (3). The first guide part (2) and the second guide part (3) are provided with linear guide rails, the first guide part (2) is installed on the upper part of the truss structure (1), and the second guide part (3) is installed on the side of the truss structure (1); The first moving part (4) is mounted on the linear guide rail of the first guide part (2), and the second moving part (5) and the third moving part (6) are mounted on the linear guide rail of the second guide part (3) one after the other, presenting a front-to-back arrangement, and the first moving part (4), the second moving part (5) and the third moving part (6) are respectively provided with a linear drive part; The linear drive unit drives the first moving part (4) to move linearly along the linear guide rail of the first guide part (2), and the linear drive unit drives the second moving part (5) and the third moving part (6) to move linearly along the linear guide rail of the second guide part (3); A first motion link (7), a second motion link (8), and a third motion link (9) are also provided and are connected in parallel to the end execution part (10). The first motion link (7) is provided with a front end rod connected to the end effector (10) via a rotary joint a (14) mounted on the end effector (10), and a rear end rod connected to the first moving part (4) via a rotary joint b (11) mounted on the first moving part (4); The second motion link (8) is provided with a front end rod connected to the end effector (10) via a rotary joint c (15) mounted on the end effector (10), and a rear end rod connected to the second moving part (5) via a rotary joint d (12) mounted on the second moving part (5); The third motion link (9) is provided with a front T-shaped shaft connected to the end effector (10) via a rotary joint e (16) mounted on the end effector (10), and is provided with a rear T-shaped shaft connected to the third moving part (6) via a rotary joint f (13) mounted on the third moving part (6); The rotation centers of the rotary joint a (14) and the rotary joint c (15) are arranged vertically, the rotation centers of the rotary joint c (15) and the rotary joint e (16) are arranged parallel to each other, the rotary joint c (15) is located at the far end of the second guide portion relative to the rotary joint e (16), the first motion link (7) is provided with two parallel links, and the two links are respectively hingedly connected to the two ends of the rotary joint a (14), and the second motion link (8) is provided with two parallel links, and the two links are respectively hingedly connected to the two ends of the rotary joint c (15); By adjusting the position of the first moving part (4) on the first guide part (2), and the positions of the second moving part (5) and the third moving part (6) on the second guide part (3), the end effector (10) is adjusted to move up, down, left, right, and forward and backward toward one side.

2. A parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The guide axes of the linear guide rails of the first guide portion (2) and the second guide portion (3) are parallel to each other.

3. A parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The first motion link (7) and the second motion link (8) have the same structure. The first moving link (7) and the second moving link (8) comprise a rear end rod (19), a front end rod (23), an upper end rod (21), a lower end rod (25), a rotational pair a (20), a rotational pair b (22), a rotational pair c (24) and a rotational pair d (26); the upper end of the rear end rod (19) is connected to the rear end of the upper end rod (21) via the rotational pair a (20); the lower end of the rear end rod (19) is connected to the rear end of the lower end rod (25) via the rotational pair d (26); the upper end of the front end rod (23) is connected to the front end of the upper end rod (21) via the rotational pair b (22); and the lower end of the front end rod (23) is connected to the front end of the lower end rod (25) via the rotational pair c (24).

4. A parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The third motion link (9) comprises a front T-shaped shaft (33), a revolving pair e (33), a long connecting rod (31), a revolving pair f (30), and a rear T-shaped shaft (29); the front T-shaped shaft (33) is connected to the front end of the long connecting rod (31) via the revolving pair e (33), and the rear T-shaped shaft (29) is connected to the rear end of the long connecting rod (31) via the revolving pair f (30).

5. A parallel transport robot with coaxial drive joints according to claim 3, characterized in that: The rear end rod (19), the front end rod (23), the upper end rod (21) and the lower end rod (25) form a parallelogram mechanism, which always keeps the rear end rod (19) and the front end rod (23) parallel to each other, and the upper end rod (21) and the lower end rod (25) parallel to each other. The parallelogram mechanism of the first moving link (7) keeps the bottom surface of the end actuator (10) parallel to the upper side surface of the truss structure (1), and the parallelogram mechanism of the second moving link (8) keeps the left and right side surfaces of the end actuator (10) parallel to the left and right side surfaces of the truss structure (1).

6. A parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The first moving part (4) and the second moving part (5) have the same structure, comprising a mounting seat a (18) and a motor a (17). The motor a (17) is mounted on the mounting seat a (18), and the motor a (17) drives the mounting seat a (18) to move linearly along the guide part.

7. A parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The third moving part (6) comprises: a mounting seat b (28) and a motor b (27), wherein the motor b (27) is mounted on the mounting seat b (28), and the motor b (27) drives the mounting seat b (28) to move linearly along the guide part.

8. A parallel transport robot with coaxial drive joints according to claim 6 or 7, characterized in that: The motors a (17) of the first moving part (4) and the second moving part (5), and the motor b (27) of the third moving part (6) are replaced with hydraulic or pneumatic drive structures.

9. The parallel transport robot with coaxial drive joints according to claim 1, characterized in that: The end effector is provided with a fixed end and a moving component mounting end, and the rotary joint a (14), the rotary joint c (15) and the rotary joint e (16) are arranged on a vertical plane of the fixed end.

10. A method for operating a parallel transport robot with coaxial drive joints according to claim 1, characterized in that: Taking the truss structure interface which is perpendicular to the guiding directions of the first guiding part (2) and the second guiding part (3) as a reference plane, The operation steps include the following: 1) The end effector (10) moves back and forth relative to the reference surface: The first moving part (4), the second moving part (5) and the third moving part (6) move in the same direction and at the same speed along the corresponding guide part, and drive the end actuator (10) to move linearly through the first moving link (7), the second moving link (8) and the third moving link (9), that is, to move forward and backward in the truss structure (1); 2) The end effector (10) moves left and right along the reference plane: The first moving part (4) remains stationary relative to the reference plane, the second moving part (5) moves forward along the second guide part (3), and the second moving link (8) swings backward along a radius around the rotary joint d (12); the third moving part (6) moves backward along the second guide part (3) or the movement speed of the third moving part (6) along the second guide part (3) is lower than the movement speed of the second moving part (5) along the second guide part (3), and the third moving link (9) swings forward along a radius around the rotary joint f (13), and at this time, the end effector (10) moves to the left of the reference plane; The third moving part (6) moves forward along the second guide part (3), the third moving link (9) swings backward along a radius around the rotary joint f (13), the second moving part (5) moves backward along the second guide part (3) or the movement speed of the second moving part (5) along the second guide part (3) is lower than the movement speed of the third moving part (6) along the second guide part (3), and the second moving link (8) swings forward along a radius around the rotary joint d (12); at this time, the end effector (10) moves to the right of the reference plane; 3) The end effector (10) moves up and down along the reference plane: The first moving part (4) moves forward along the first guide part (2), and the first moving link (7) swings backward around the rotary joint b (11); the second moving part (5) and the third moving part (6) remain stationary relative to the plane or move along the second guide part (3) at a speed lower than the movement speed of the first moving part (4) along the first guide part (2), the first moving link (7) swings backward around the rotary joint b (11), and the end effector (10) moves downward within the plane at this time; The first moving part (4) moves backward along the first guide part (2), and the first moving link (7) swings forward around the rotating joint b (11); the second moving part (5) and the third moving part (6) remain stationary relative to the plane or move along the second guide part (3) at a speed greater than the movement speed of the first moving part (4) along the first guide part (2), the first moving link (7) swings forward around the rotating joint b (11), and the end effector (10) moves upward in the plane at this time; 4) The above steps 1), 2) and 3) are performed synchronously or asynchronously, driving the end effector (10) to move within the truss structure (1).

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