Parallel robot for test simulation

Abstract

The invention provides a parallel robot for test simulation, and relates to the field of robots, the parallel robot comprises an upper platform, a connecting rod mechanism, sliding mechanisms and mounting bases, six groups of mounting bases are arranged below the upper platform, each mounting base is provided with an upper inclined plane, the sliding mechanisms are arranged on the upper inclined planes, the connecting rod mechanism is hinged between the upper platform and the sliding mechanisms, and the connecting rod mechanism is hinged between the upper platform and the sliding mechanisms. The sliding mechanism is used for driving the lower end of the connecting rod mechanism to reciprocate in the length direction of the upper inclined face so as to correspondingly adjust the inclination degree of the connecting rod mechanism. The connecting rod mechanism comprises an upper hinge seat, an upper rod body, a lower rod body and a lower hinge seat, one end of the upper rod body is hinged to the upper platform through the upper hinge seat, one end of the lower rod body is hinged to the sliding mechanism through the lower hinge seat, and the upper rod body and the lower rod body are coaxially and rotationally connected, so that the connecting rod mechanism has a rotational degree of freedom. The technical problem that in the prior art, a robot is poor in movement capacity in a limited space range can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a parallel robot for test simulation. Background Art

[0002] In flight simulation tests, the six-degree-of-freedom parallel robot is usually used as the bottom platform of the flight model, and its top is used to install the flight model. It simulates the flight data parameters of the flight model after adjustment at different angles through its own movement. However, when the existing six-degree-of-freedom parallel robot realizes large-angle or large-displacement movement, it mainly relies on increasing the stroke of the actuator. Although this method can improve the static indicators of the equipment to a certain extent, it also brings many problems.

[0003] First of all, the increase in stroke will inevitably lead to the expansion of the overall size of the equipment, which not only increases the difficulty and cost of manufacturing, but also puts forward higher safety envelope space requirements for the location of the equipment. In addition, the transportation, disassembly and maintenance of the equipment have become more complicated, which is not conducive to the flexibility of practical applications. More importantly, due to the structural characteristics of the parallel mechanism, when the length of the actuator increases to a certain extent, simply relying on extending the stroke can no longer meet the needs of greater motion indicators. This is mainly because the actuator is too long, which will cause the size of the upper and lower distribution circles to increase synchronously to prevent mechanical interference, but the increase in the distribution circle is also limited by physical space. If the distribution circle is too large, the overall structure will be difficult to achieve the expected large-scale movement.

[0004] Therefore, achieving greater motion capabilities within a limited space and breaking through the existing six-degree-of-freedom parallel robot's dependence on the actuator length and distribution circle size have become technical challenges that need to be urgently solved in this field. Summary of the invention

[0005] The present application discloses a parallel robot for test simulation to solve the technical problems of the parallel robot for test simulation in the related art.

[0006] The present application provides a parallel robot for test simulation, which adopts the following technical solution: A parallel robot for test simulation, comprising an upper platform, a link mechanism, a sliding mechanism and a mounting base. There are six groups of the mounting bases arranged below the upper platform, and the six groups of the mounting bases form an equilateral triangle directly below the upper platform. Each two groups of the mounting bases form one side of the equilateral triangle. The mounting base has an upper inclined surface, the sliding mechanism is arranged on the upper inclined surface, the link mechanism is hinged between the upper platform and the sliding mechanism, and the sliding mechanism is used to drive the lower end of the link mechanism to reciprocate along the length direction of the upper inclined surface so as to correspondingly adjust the inclination degree of the link mechanism. Among them, in two groups of the mounting bases on one side of the equilateral triangle, the plate surfaces of the two upper inclined surfaces face each other and are mirror-symmetrical; the link mechanism includes an upper hinge seat, an upper rod body, a lower rod body and a lower hinge seat. One end of the upper rod body is hinged to the upper platform through the upper hinge seat, one end of the lower rod body is hinged to the sliding mechanism through the lower hinge seat, and the upper rod body and the lower rod body are coaxially rotatably connected so that the link mechanism has a rotational degree of freedom.

[0007] Preferably, the sliding mechanism includes a driving component and a moving component. The driving component is used to drive the moving component to reciprocate along the length direction of the upper inclined surface, and the lower hinge seat is installed on the moving component.

[0008] Preferably, the driving component includes a motor and a reciprocating lead screw. An installation plate is vertically arranged at the topmost end of the upper inclined surface, the motor is arranged on the installation plate, the reciprocating lead screw is coaxially arranged on the output shaft of the motor, and the extending direction of the reciprocating lead screw is consistent with the length direction of the upper inclined surface; the moving component includes a moving seat, a slider and a lead screw nut. The slider is arranged below the moving seat, the lead screw nut penetrates through the moving seat, and the lead screw nut is in threaded socket connection with the reciprocating lead screw. A slide rail is arranged on the upper inclined surface along its own length direction, and the slider is in sliding fit with the slide rail.

[0009] Preferably, baffles are respectively arranged on both sides of the slide rail in the length direction of the upper inclined surface, the reciprocating lead screw is respectively rotatably connected to the two baffles, and the baffles are used to limit the moving range of the moving seat.

[0010] Preferably, a buffer pad is arranged on the inner plate surface of the baffle, and along the length direction of the slide rail, the buffer pad faces the end wall of the moving seat.

[0011] Preferably, a driving auxiliary component is further provided on the installation base. The driving auxiliary component includes a first roller, a second roller, a third roller, and a rubber rope. Among them, one first roller is provided on each side of the moving seat, and the length direction of the first roller is perpendicular to the length direction of the upper inclined surface; the second roller is provided on a side wall of the installation base close to the lowest end of the upper inclined surface, and the third roller is provided on a side wall of the installation base close to the highest end of the upper inclined surface, and both the second roller and the third roller are parallel to the first roller; the rubber rope is tightly wound around the first roller, the second roller, and the third roller, so that when the moving seat makes a reciprocating motion within its own moving range, the rubber rope always has an elastic pulling force applied to the moving seat.

[0012] Preferably, the upper rod body and the lower rod body are rotationally connected through a rotating bearing. A rotating groove is opened at the end of the lower rod body, and the rotating bearing is interference-fitted in the rotating groove. A rotating rod is coaxially provided at the lower end of the upper rod body, and the rotating rod is interference-fitted with the inner ring of the rotating bearing; a rotating oil supplement mechanism is provided at the connection between the upper rod body and the lower rod body. The rotating oil supplement mechanism is used to automatically supplement lubricating oil to the friction part of the rotating bearing when the upper rod body and the lower rod body rotate relative to each other; the rotating oil supplement mechanism includes a bracket, a first oil storage component, a rotating extrusion component, and a second oil storage component. The bracket is installed on the outer wall of the lower rod body, the first oil storage component and the second oil storage component are both provided on the bracket, and the rotating extrusion component is provided between the bracket and the outer wall of the upper rod body. Among them, when the upper rod body and the lower rod body rotate relative to each other, the rotating extrusion component gradually applies an extrusion force to the first oil storage component, so that part of the lubricating oil in the first oil storage component enters the friction part of the rotating bearing, and the second oil storage component is used to collect the excess lubricating oil overflowing from the friction part of the rotating bearing.

[0013] Preferably, the outer diameter of the upper rod body is larger than the outer diameter of the lower rod body, and an annular enclosure is provided at the edge of the end of the upper rod body. The annular enclosure circumferentially wraps the rotating rod and the rotating bearing, and a penetration gap is formed between the annular enclosure and the outer peripheral wall of the lower rod body.

[0014] Preferably, the rotating extrusion assembly comprises a pushing portion, an abutting portion and a torsion spring, wherein the pushing portion comprises a first pushing surface, a second pushing surface and a third pushing surface which are smoothly transitionally connected in sequence, the first pushing surface and the third pushing surface are mirror-symmetrically arranged on both sides of the second pushing surface, the first pushing surface and the third pushing surface are both inclined surfaces, and the second pushing surface is an arc surface; the abutting portion is hingedly arranged on the bracket, the torsion spring is arranged at the hinged portion of the abutting portion and the bracket, and the torsion spring always has the function of keeping the abutting portion in a position parallel to the length direction of the lower rod body; the abutting portion comprises an extrusion surface and an abutting surface which are opposite to each other, the extrusion surface is used to contact with the first oil storage assembly, the abutting surface is an arc surface, and the first pushing surface and the third pushing surface are both separated from the abutting surface in the outer circumferential direction of the lower rod body, and the second pushing surface and the abutting surface have an overlapping portion in the outer circumferential direction of the lower rod body, so that when the upper rod body and the lower rod body rotate relative to each other, the second pushing surface can be relatively abutted with the abutting surface, thereby making the extrusion surface close to the first oil storage assembly.

[0015] Preferably, the first oil storage assembly includes a limit frame, an elastic rubber sac, a flexible tube and a hard nozzle, the limit frame is arranged on a side of the bracket away from the lower rod body, and the limit frame and the pushing part form a limit space for accommodating the elastic rubber sac, the elastic rubber sac is integrally provided with a perfusion hard tube, and a sealing cover is detachably provided on the perfusion hard tube, one end of the flexible tube is connected to the bottom of the elastic rubber sac, and the other end extends to the upper end face of the lower rod body after passing through the gap, the hard nozzle is arranged on the upper end face of the rod body and is connected to the The flexible pipe is connected, and the hard nozzle faces the friction part of the rotating bearing; the second oil storage assembly includes a positioning frame, an oil return tank and an oil return pipe, the positioning frame is arranged on the bracket, the oil return tank is embedded in the positioning frame, a temporary oil storage tank and a reflux channel are arranged in the lower rod body, the temporary oil storage tank is connected and arranged below the rotating groove, the upstream end of the reflux channel is connected with the temporary oil storage tank, the lower pipe end of the return pipe is connected with the top end of the return oil tank, and the high pipe end is connected with the downstream end of the reflux channel.

[0016] The present invention has the following advantages and beneficial effects: 1. The present invention uses a sliding mechanism to drive the movement of six linkages with fixed lengths, thereby achieving flexible movement with six degrees of freedom. This design cleverly combines a linkage assembly, a sliding mechanism group, and a ramp structure, enabling the robot to achieve a larger angle adjustment range and displacement ability than traditional parallel robots under limited stroke and restricted overall dimensions, breaking through the bottleneck of the existing technology. In addition, to further optimize the performance of the device, the present invention also adopts an auxiliary tension mechanism to balance part of the self-weight of the load, thereby reducing the burden on the actuator. This not only reduces the power requirement of the motor, effectively shrinks the overall dimensions of the device, but also improves the overall energy efficiency and operating stability of the device while reducing the manufacturing cost. More importantly, this design greatly simplifies the structure of the device, making it more convenient during installation, disassembly, and handling, and enhancing the flexibility of practical applications. In summary, through a new driving method and structural design, the present invention significantly improves the movement ability of the six-degree-of-freedom parallel robot without increasing the volume of the device, providing a more efficient, more economical, and easier-to-operate technical solution for the fields of flight simulation and other high-precision motion control; 2. The present invention adopts a driving auxiliary component, which consists of a first roller body, a second roller body, a third roller body, and a rubber rope. Through a reasonable winding method, the rubber rope is always kept in a taut state during the reciprocating movement of the moving seat, so that an elastic tensile force can always be applied to the moving seat. This elastic tensile force can offset part of the load borne by the motor to a certain extent, reduce the power requirement of the motor, and reduce the increase in energy consumption caused by high load. In addition, the taut state of the rubber rope helps to optimize the movement trajectory of the moving seat, reduce the jitter caused by inertia or external disturbances, thereby improving the smoothness and coherence of the operation of the sliding mechanism, and enabling the parallel robot to execute motion commands more accurately during the test simulation process. This design not only improves the operating efficiency of the device, but also can reduce energy consumption to a certain extent, and improve the overall reliability and service life of the parallel robot; 3. The present invention realizes the function of automatically replenishing lubricating oil when the upper rod body and the lower rod body rotate relative to each other by setting a rotating oil replenishing mechanism, avoiding the cumbersome operation of manually adding lubricating oil to the rotating bearings of traditional robots. In particular, the first oil storage component in the rotating oil replenishing mechanism uses an elastic rubber bladder to store lubricating oil, and through the cooperation of a pushing part, an abutting part, and a torsion spring, the rubber bladder is naturally squeezed during the rotation of the upper rod body, so that the lubricating oil is stably delivered to the friction part of the rotating bearing, ensuring that the bearing is always in a good lubricated state, thereby reducing the friction resistance, reducing wear, and effectively preventing overheating problems caused by high-frequency rotation. At the same time, the design of the second oil storage component enables the excess lubricating oil to be recycled and reused, further improving the utilization efficiency of the lubricating oil, reducing waste, enabling the parallel robot to maintain good stability during long-term operation, and effectively extending the service life of the rotating bearing. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 is a schematic structural diagram of an embodiment of the present application; Figure 2 is a top view of an embodiment of the present application; Figure 3 is a partial connection schematic diagram for showing the link mechanism, the sliding mechanism, and the mounting base in an embodiment of the present application; Figure 4 is a partial connection schematic diagram for showing the sliding mechanism and the mounting base in an embodiment of the present application Figure 1 ; Figure 5 is a partial connection schematic diagram for showing the sliding mechanism and the mounting base in an embodiment of the present application Figure 2 ; Figure 6 is a partial connection schematic diagram for showing the upper rod body, the lower rod body, and the rotational oil replenishing mechanism in an embodiment of the present application; Figure 7 is a partial cross-sectional view for showing the upper rod body, the lower rod body, and the rotational oil replenishing mechanism in an embodiment of the present application; Figure 8 is a schematic diagram of the connection state for showing the annular enclosure, the pushing part, and the abutting part in an embodiment of the present application.

[0019] The reference numerals in the drawings are: 100. Upper platform; 200. Linkage mechanism; 210. Upper hinge seat; 220. Upper rod body; 221. Rotating rod; 222. Ring-shaped enclosure; 223. Penetration gap; 230. Lower rod body; 231. Rotating groove; 232. Temporary oil storage tank; 233. Return channel; 240. Lower hinge seat; 300. Sliding mechanism; 310. Driving assembly; 311. Motor; 312. Reciprocating lead screw; 320. Moving assembly; 321. Moving seat; 322. Slide block; 323. Lead screw nut; 400. Installation base; 410. Upper inclined surface; 420. Installation plate; 430. Slide rail; 440. Baffle; 441. Buffer pad; 500. Driving auxiliary assembly; 510. First roller body; 520. Second roller body; 530. Third roller body; 540. Rubber cord; 600. Rotating bearing; 700. Rotating oil supply replenishment mechanism; 710. Bracket; 720. First oil storage assembly; 721. Limit frame; 722. Elastic rubber bladder; 7221. Filling hard tube; 7222. Sealing cover; 723. Flexible tube; 724. Hard spray tube; 730. Rotating extrusion assembly; 731. Pushing part; 7311. First pushing surface; 7312. Second pushing surface; 7313. Third pushing surface; 732. Abutting part; 7321. Extrusion surface; 7322. Abutting surface; 733. Torsion spring; 740. Second oil storage assembly; 741. Positioning frame; 742. Oil return tank; 743. Oil return pipe. Detailed implementation manners

[0020] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0021] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects. The character " / ", generally represents an "or" relationship between the associated objects before and after.

[0022] In the related art, during the testing phase of a flight simulation experiment, a six-degree-of-freedom parallel robot is usually used as the bottom platform of a flight model, with the flight model installed on top. The robot simulates the flight data parameters of the flight model after adjustment in different postures through its own movement.

[0023] However, the existing six-degree-of-freedom parallel robots mainly rely on increasing the stroke of the actuator to achieve large-angle or large-displacement motion, that is, by extending the length of the drive rod or telescopic component to improve the static indicators of the system, such as the angle range or linear displacement range. Although this method can enhance the motion capability of the device to a certain extent, it also brings many problems.

[0024] First of all, as the stroke increases, the overall size of the equipment will inevitably expand, which will not only lead to a significant increase in manufacturing costs and processing difficulty, but also put forward higher requirements on the installation, placement and operating environment of the equipment, especially in limited spaces. The application is greatly restricted.

[0025] In addition, the increase in size makes the equipment more complicated in transportation, disassembly and maintenance, which increases the workload and cost of use, thus reducing the flexibility and practicality of the equipment. More importantly, due to the inherent structural characteristics of the parallel mechanism, simply increasing the stroke of the actuator will encounter a bottleneck after reaching a certain level, that is, the movement capacity can no longer be improved.

[0026] This is mainly because the length of the actuator is too long, which will cause mechanical interference problems. In order to avoid interference, the size of the distribution circle at the upper and lower ends also needs to be increased accordingly. However, the increase in the distribution circle is not unlimited. Because when the distribution circle is too large, the overall movement accessibility of the mechanism will be limited, and it may even be impossible to achieve the required large range of motion.

[0027] Therefore, achieving greater motion capabilities within a limited space and breaking through the existing six-degree-of-freedom parallel robot's dependence on the length of the actuator and the size of the distribution circle have become important technical problems that need to be solved in this field. This problem is not only related to the accuracy of flight simulation tests, but also directly affects the application potential of six-degree-of-freedom parallel robots in other high-precision motion scenarios, such as aerospace, automobile driving simulation, and ship attitude simulation. Therefore, how to improve the motion capabilities of the six-degree-of-freedom parallel robot without significantly increasing the size of the equipment, especially how to take into account a large range of attitude adjustment and high-precision motion control within a limited structural space, has become the core challenge facing current technological development.

[0028] In view of this, some embodiments of the present application provide a parallel robot for test simulation. Different from the traditional six-degree-of-freedom parallel robot that relies on electric cylinders, hydraulic cylinders or pneumatic cylinders as actuators, this parallel robot uses a sliding mechanism to drive the movement of six link mechanisms with fixed lengths, thereby achieving flexible six-degree-of-freedom movement. The parallel robot is ingeniously designed by combining the link mechanism, the sliding mechanism group and the upper inclined surface of the mounting base, enabling the robot to achieve a larger angle adjustment range and displacement ability than the traditional parallel robot under the conditions of limited stroke and restricted overall dimensions, breaking through the bottleneck of the prior art. More importantly, this design greatly simplifies the structure of the device, making it more convenient during installation, disassembly and handling, and enhancing the flexibility of practical applications. In summary, through a new driving method and structural design, the present invention significantly improves the movement ability of the six-degree-of-freedom parallel robot without increasing the volume of the device, providing a more efficient, more economical and easier-to-operate technical solution for the fields of flight simulation and other high-precision motion control.

[0029] Please refer to Figures 1 to 8 , in some embodiments, a parallel robot for test simulation includes an upper platform 100, a link mechanism 200, a sliding mechanism 300 and a mounting base 400. There are six groups of mounting bases 400 provided below the upper platform 100. The six groups of mounting bases 400 form an equilateral triangle directly below the upper platform 100. Each two groups of mounting bases 400 form one side of the equilateral triangle. The mounting base 400 has an upper inclined surface 410. The sliding mechanism 300 is arranged on the upper inclined surface 410. The link mechanism 200 is hinged between the upper platform 100 and the sliding mechanism 300. The sliding mechanism 300 is used to drive the lower end of the link mechanism 200 to reciprocate along the length direction of the upper inclined surface 410 to correspondingly adjust the inclination degree of the link mechanism 200.

[0030] Exemplarily, in combination with Figure 1 , Figure 2 and Figure 3 , in two groups of mounting bases 400 on one side of the equilateral triangle, the plate surfaces of the two upper inclined surfaces 410 face each other and are arranged in mirror symmetry. Further, with the horizontal ground as the reference plane, the inclination angle of the upper inclined surface 410 is 30° - 45°.

[0031] Exemplarily, in combination with Figure 1 , Figure 2 and Figure 3, the linkage mechanism 200 includes an upper hinge seat 210, an upper rod body 220, a lower rod body 230, and a lower hinge seat 240. One end of the upper rod body 220 is hinged to the upper platform 100 through the upper hinge seat 210, and one end of the lower rod body 230 is hinged to the sliding mechanism 300 through the lower hinge seat 240. The upper rod body 220 and the lower rod body 230 are coaxially rotatably connected, so that the linkage mechanism 200 has a rotational degree of freedom. Further, the upper rod bodies 220 on two linkage mechanisms 200 near the angle of the equilateral triangle share a common upper hinge seat 210.

[0032] On this basis, through the cooperation of the linkage mechanism 200, the sliding mechanism 300, and the upper inclined surface 410, a six-degree-of-freedom motion is achieved, and a large angle and displacement adjustment ability are provided within a limited structural size and stroke range. Among them, the mounting base 400 is arranged below the upper platform 100, and six groups of mounting bases 400 are distributed in an equilateral triangle, making the entire robot structure more balanced in force and improving the overall motion stability. Every two groups of mounting bases 400 together form one side of the equilateral triangle, and an upper inclined surface 410 is provided on each mounting base 400. The sliding mechanism 300 is arranged along the upper inclined surface 410 and can slide reciprocally thereon, thereby driving the lower end of the linkage mechanism 200 to move accordingly. One end of the linkage mechanism 200 is hinged to the upper platform 100 through the upper hinge seat 210, and the other end is connected to the sliding mechanism 300 through the lower hinge seat 240, wherein the upper rod body 220 and the lower rod body 230 are connected in a coaxially rotating manner to ensure that the linkage mechanism 200 has a rotational degree of freedom. The motion of the sliding mechanism 300 is along the upper inclined surface 410, causing the lower end of the linkage mechanism 200 to displace in the length direction, thereby changing the inclination angle of the linkage mechanism 200 and finally adjusting the attitude of the upper platform 100. In particular, on one side of the equilateral triangle, the plate surfaces of the upper inclined surfaces 410 of two groups of mounting bases 400 face each other and are arranged in mirror symmetry. The advantage of this design is that the corresponding sliding mechanisms 300 and linkage mechanisms 200 on the two upper inclined surfaces 410 can achieve a greater position adjustment ability within a smaller space range, thereby enhancing the adjustable range of the upper platform 100 and improving the overall flexibility of the robot.

[0033] In this structure, since the sliding mechanism 300 slides along the upper inclined surface 410, the angle adjustment process of the link mechanism 200 becomes more stable, which helps to reduce the impact of instantaneous impact force on the entire robot structure. At the same time, by adjusting the inclination angle of the upper inclined surface 410 and the stroke of the sliding mechanism 300, the motion performance of the robot can be further optimized. In addition, this design abandons the traditional driving methods of electric cylinders, hydraulic cylinders or air cylinders, avoiding the problem of overall size enlargement caused by the increase in the stroke of the actuator, enabling the robot to still have high motion performance in an environment with limited space, and reducing the manufacturing and maintenance costs to a certain extent.

[0034] In summary, through the innovative mechanism design of the present invention, a large motion adjustment range is achieved under limited space conditions, which is applicable to high-precision attitude adjustment scenarios such as flight simulation, and can overcome the problems of limited motion range, large volume and complex structure of existing six-degree-of-freedom parallel robots to a certain extent.

[0035] In some embodiments, as Figures 2 to 5 shown, the sliding mechanism 300 includes a driving component 310 and a moving component 320. The driving component 310 is used to drive the moving component 320 to reciprocate along the length direction of the upper inclined surface 410, and the lower hinge seat 240 is installed on the moving component 320. So as to more efficiently adjust the position of the link mechanism 200, thereby realizing the adjustment of the attitude and azimuth of the upper platform 100.

[0036] Exemplarily, the driving component 310 includes a motor 311 and a reciprocating lead screw 312. At the topmost end of the upper inclined surface 410, a mounting plate 420 is vertically provided. The motor 311 is arranged on the mounting plate 420, and the reciprocating lead screw 312 is coaxially arranged on the output shaft of the motor 311, so that the rotational motion of the motor 311 can be directly transmitted to the lead screw; and the extending direction of the reciprocating lead screw 312 is consistent with the length direction of the upper inclined surface 410 to ensure that the motion path of the sliding mechanism 300 conforms to the expected adjustment direction. Exemplarily, the motor 311 is configured to be servo type or reciprocating type.

[0037] Exemplarily, the moving component 320 includes a moving base 321, a slider 322, and a lead screw nut 323. The slider 322 is disposed below the moving base 321. The lead screw nut 323 passes through the moving base 321 and is threadedly sleeved on the reciprocating lead screw 312. When the motor 311 drives the reciprocating lead screw 312 to rotate, the lead screw nut 323 is driven, thereby driving the moving base 321 to move along the axial direction of the lead screw. Further, in order to improve the motion stability of the moving component 320, a slide rail 430 is provided along the length direction of the upper inclined surface 410. The slider 322 is slidably engaged with the slide rail 430 to play a guiding and supporting role, so that the moving base 321 remains stable during the movement and reduces the offset or jamming phenomenon caused by the lateral force. Exemplarily, the slider 322 is configured as a dovetail block or a T-shaped block, and the slide rail 430 is correspondingly provided with a dovetail groove or a T-shaped groove, so that the slider 322 can stably move in the length direction of the slide rail 430.

[0038] On this basis, when it is necessary to adjust the attitude and orientation of the upper platform 100, only need to start the motor 311. The motor 311 can drive the reciprocating lead screw 312 to rotate, and then drive the lead screw nut 323 to drive the moving base 321 to slide along the slide rail 430. Since the lower hinge seat 240 is installed on the moving base 321, the lower end of the link mechanism 200 will change its position accordingly, thereby causing a change in the inclination angle of the link mechanism 200 and finally adjusting the attitude of the upper platform 100. In summary, through the driving method of the motor 311 to achieve precise control, it can improve the flexibility and accuracy of the attitude adjustment of the upper platform 100 to a certain extent. At the same time, the guiding structure of the slide rail 430 is used to reduce the offset and improve the motion smoothness, so that the overall system is more efficient and reliable during the adjustment process.

[0039] In some embodiments, in combination with Figure 3 , Figure 4 and Figure 5 , baffles 440 are respectively provided on both sides of the slide rail 430 in the length direction of the upper inclined surface 410. The reciprocating lead screw 312 is respectively rotatably connected to the two baffles 440. The baffles 440 are used to limit the moving range of the moving base 321. Through the setting of the baffles 440, the moving range of the moving base 321 on the slide rail 430 is limited, and to a certain extent, the situation that the moving base 321 slides out of the slide rail 430 and causes equipment damage is avoided.

[0040] In some embodiments, in combination with Figure 4 , Figure 5, a buffer pad 441 is provided on the inner plate surface of the baffle 440. Along the length direction of the slide rail 430, the buffer pad 441 faces the end wall of the moving seat 321. Exemplarily, the buffer pad 441 is configured to be made of sponge or rubber, and can reduce the impact force through its own buffering effect, and reduce the probability of the moving seat 321 being damaged by impact.

[0041] In some embodiments, in combination with Figure 3 , Figure 4 and Figure 5 , a driving auxiliary component 500 is further provided on the mounting base 400. The driving auxiliary component 500 includes a first roller 510, a second roller 520, a third roller 530 and a rubber rope 540. Among them, one first roller 510 is provided on each side of the moving seat 321, and the length direction of the first roller 510 is perpendicular to the length direction of the upper inclined surface 410.

[0042] Exemplarily, the second roller 520 is provided on the side wall of the mounting base 400 close to the lowest end of the upper inclined surface 410, the third roller 530 is provided on the side wall of the mounting base 400 close to the highest end of the upper inclined surface 410, and both the second roller 520 and the third roller 530 are parallel to the first roller 510.

[0043] Exemplarily, the rubber rope 540 is tightly wound around the first roller 510, the second roller 520 and the third roller 530, so that when the moving seat 321 makes a reciprocating motion within its own moving range, the rubber rope 540 always has an elastic pulling force applied to the moving seat 321. Exemplarily, the rubber rope 540 is first wound around the first roller 510, then extends and bypasses the third roller 530 and then extends and winds around the second roller 520, and then extends and bypasses the third roller 530 and then winds around the first roller 510 again. After winding several more times like this, the rubber rope 540 can always be kept in a tight state.

[0044] This winding method keeps the rubber rope 540 always in a taut state. Whether the moving seat 321 is at the highest or lowest point of the slide rail 430, the rubber rope 540 will exert an elastic pulling force on it, thus offsetting to a certain extent the influence brought by the self-weight of the moving seat 321 and other loads. An important effect of this structural design is that during the process of the motor 311 driving the moving seat 321 to reciprocate along the slide rail 430, the rubber rope 540 can provide a continuous auxiliary pulling force for the moving seat 321, thereby reducing the power required for the motor 311 to drive, making the entire sliding mechanism 300 more energy-efficient during operation. In addition, the elastic pulling force of the rubber rope 540 can also make the moving seat 321 more stable when switching the moving direction, which is beneficial to reducing the impact caused by inertia, improving the running smoothness of the sliding mechanism 300, reducing vibration, and increasing the overall service life of the device. Through this structural optimization, the parallel robot of the present invention can make the power system more efficient while ensuring the precise adjustment ability, and improve the motion stability and reliability of the entire system.

[0045] In some embodiments, in combination with Figure 6 , Figure 7 and Figure 8 , the upper rod body 220 and the lower rod body 230 are rotatably connected through a rotating bearing 600. A rotating groove 231 is formed at the end of the lower rod body 230. The rotating bearing 600 is in interference fit within the rotating groove 231. A rotating rod 221 is coaxially provided at the lower end of the upper rod body 220. The rotating rod 221 is in interference fit with the inner ring of the rotating bearing 600, enabling the upper rod body 220 and the lower rod body 230 to rotate relative to each other around the rotating bearing 600 to meet the angle change requirements needed when the parallel robot adjusts the position of the upper platform 100.

[0046] Exemplarily, in order to optimize the lubrication performance of the rotating parts of the link mechanism 200 during frequent movement and reduce the need for manual maintenance, a rotating oil replenishing mechanism 700 is provided at the connection between the upper rod body 220 and the lower rod body 230. The rotating oil replenishing mechanism 700 is used to automatically replenish lubricating oil to the friction part of the rotating bearing 600 when the upper rod body 220 and the lower rod body 230 rotate relative to each other, so as to maintain a stable lubrication effect, reduce the heat accumulation and wear caused by friction, and thus extend the service life of the rotating bearing 600; further, the rotating oil replenishing mechanism 700 includes a bracket 710, a first oil storage component 720, a rotating extrusion component 730, and a second oil storage component 740. The bracket 710 is installed on the outer wall of the lower rod body 230. Both the first oil storage component 720 and the second oil storage component 740 are provided on the bracket 710. The rotating extrusion component 730 is provided between the bracket 710 and the outer wall of the upper rod body 220. Further, two groups of the rotating oil replenishing mechanism 700 are symmetrically provided in the circumferential direction of the upper rod body 220 and the lower rod body 230, thereby improving the oil replenishing effect.

[0047] Exemplarily, when the upper rod body 220 and the lower rod body 230 rotate relative to each other, the rotation extrusion assembly 730 gradually applies an extrusion force to the first oil storage assembly 720, so that part of the lubricating oil in the first oil storage assembly 720 enters the friction part of the rotating bearing 600. The second oil storage assembly 740 is used to collect the excess lubricating oil overflowing from the friction part of the rotating bearing 600, so as to improve the utilization rate of the lubricating oil and reduce waste.

[0048] On this basis, during the relative rotation of the upper rod body 220 and the lower rod body 230, the rotation extrusion assembly 730 is extruded, thereby applying pressure to the first oil storage assembly 720, so that the stored lubricating oil is gradually released and enters the friction part of the rotating bearing 600, playing a role in lubrication and heat dissipation. At the same time, the excess lubricating oil overflowing from the friction part of the rotating bearing 600 can flow back to the second oil storage assembly 740 along the structural design for subsequent recycling. This lubrication method has multiple advantages: First, since the replenishment of the lubricating oil is automatically carried out with the rotation of the upper rod body 220 and the lower rod body 230, there is no need to manually add lubricating oil frequently, reducing the maintenance workload and improving the working efficiency of the parallel robot. Second, since the lubricating oil can be evenly distributed inside the bearing, the friction force during rotation is more uniform, which can reduce the phenomenon of local overheating to a certain extent, thereby prolonging the service life of the rotating bearing 600. In addition, the overflowing lubricating oil can be recycled through the second oil storage assembly 740, reducing the waste of lubricating oil and also reducing the long-term operation cost of the equipment.

[0049] In summary, by providing an automatic oil replenishment mechanism at the rotating connection of the link mechanism 200, the present invention enables the parallel robot to still maintain a good lubrication state under high-frequency motion conditions, improves the stability and durability of the equipment, reduces the need for manual maintenance, and enhances the overall automation level.

[0050] In some embodiments, in combination with Figure 6 , Figure 7 and Figure 8 , the outer diameter of the upper rod body 220 is greater than the outer diameter of the lower rod body 230, and an annular enclosure 222 is provided at the end edge of the upper rod body 220. The annular enclosure 222 circumferentially wraps the rotating rod 221 and the rotating bearing 600 to prevent external pollution sources (such as dust particles or debris, etc.) from entering the rotating bearing 600 to a certain extent. Further, a penetration gap 223 is formed between the annular enclosure 222 and the outer peripheral wall of the lower rod body 230. Exemplarily, the penetration gap 223 includes a vertical gap and a horizontal gap to prevent interference between the upper rod body 220 and the lower rod body 230 during relative rotation to a certain extent.

[0051] In some embodiments, with reference to Figure 6 ,Figure 7 and Figure 8 The rotating and squeezing assembly 730 includes a pushing part 731, an abutting part 732 and a torsion spring 733. Among them, the pushing part 731 has a first pushing surface 7311, a second pushing surface 7312 and a third pushing surface 7313 that are smoothly and sequentially connected. The first pushing surface 7311 and the third pushing surface 7313 are symmetrically arranged on both sides of the second pushing surface 7312 in a mirror image manner. The first pushing surface 7311 and the third pushing surface 7313 are both inclined surfaces, and the second pushing surface 7312 is an arc surface.

[0052] Exemplarily, the abutting part 732 is hinged to the bracket 710, and the torsion spring 733 is arranged at the hinged part of the abutting part 732 and the bracket 710. The torsion spring 733 always has a position that keeps the abutting part 732 parallel to the length direction of the lower rod body 230.

[0053] Exemplarily, the abutting part 732 has an abutting surface 7321 and a contacting surface 7322 that face away from each other. The abutting surface 7321 is used to contact the first oil storage assembly 720. The contacting surface 7322 is an arc surface, and both the first pushing surface 7311 and the third pushing surface 7313 are separated from the contacting surface 7322 in the circumferential direction of the lower rod body 230. The second pushing surface 7312 and the contacting surface 7322 have an overlapping part in the circumferential direction of the lower rod body 230. In the case where the upper rod body 220 and the lower rod body 230 rotate relative to each other, the second pushing surface 7312 can relatively abut against the contacting surface 7322, so that the abutting surface 7321 approaches the first oil storage assembly 720.

[0054] Exemplarily, in the circumferential direction of the lower rod body 230, the closer the first pushing surface 7311 is to the second pushing surface 7312, the closer the first pushing surface 7311 is to the pushing part 731; similarly, in the circumferential direction of the lower rod body 230, the closer the third pushing surface 7313 is to the second pushing surface 7312, the closer the third pushing surface 7313 is to the pushing part 731.

[0055] On this basis, when the upper rod body 220 rotates relative to the lower rod body 230, the pushing part 731 will also rotate accordingly. During this process, the first pushing surface 7311 or the third pushing surface 7313 will first contact the abutting surface 7322, and gradually guide the second pushing surface 7312 to smoothly fit with the abutting surface 7322 of the abutting part 732. Due to the transitional relationship between the pushing surfaces, this process is relatively smooth and is not likely to generate abrupt impacts. This design enables the pushing part 731 to apply an external pushing force to the abutting part 732 after the second pushing surface 7312 gradually enters the contact range of the abutting surface 7322, causing the abutting part 732 to rotate around its hinge point and gradually apply pressure to the first oil storage component 720. During this process, the lubricating oil inside the first oil storage component 720 is extruded by the external force and thus enters the friction part of the rotating bearing 600, realizing the function of automatically replenishing the lubricating oil. In addition, since the second pushing surface 7312 and the abutting surface 7322 have an overlapping part in the circumferential direction of the outer periphery of the lower rod body 230, when the upper rod body 220 rotates, the circumferential displacement of the pushing part 731 will steadily drive the abutting part 732 to move outwards. This gradually pushing method avoids the problems of too fast or too slow release of the lubricating oil, making the lubrication process more uniform. At the same time, the abutting part 732 can return to its initial position under the action of the torsion spring 733 after the external force is removed, ensuring that the entire mechanism can repeat the lubricating oil release action during each rotation of the upper rod body 220, thereby maintaining a long-term stable lubrication effect. Moreover, during the process of the abutting part 732 resetting under the action of the torsion spring 733, the first pushing surface 7311 and the third pushing surface 7313 can effectively buffer the reset of the abutting part 732, enabling the abutting part 732 to slowly reset under the action of the torsion spring 733, and thus to a certain extent avoiding the impact on the annular enclosure 222 caused by the rapid reset of the abutting part 732.

[0056] In summary, by designing the rotating extrusion component 730, the present invention makes the replenishment of the lubricating oil more intelligent and controllable, improves the service life of the rotating bearing 600 to a certain extent, and at the same time reduces the frequency of manual maintenance, enabling the parallel robot to operate continuously and stably during the test simulation process.

[0057] In some embodiments, in combination with Figure 6 、 Figure 7, the first oil storage assembly 720 includes a limit frame 721, an elastic rubber bladder 722, a flexible tube 723, and a hard spray pipe 724. The limit frame 721 is provided on the side of the bracket 710 away from the lower rod body 230, and the limit frame 721 and the pushing portion 731 form a limit space for accommodating the elastic rubber bladder 722. The elastic rubber bladder 722 is integrally provided with a perfusion hard tube 7221, and a sealing cap 7222 is detachably provided on the perfusion hard tube 7221. One end of the flexible tube 723 is communicated with the bottom of the elastic rubber bladder 722, and the other end extends to the upper end surface of the lower rod body 230 after passing through the penetration gap 223. The hard spray pipe 724 is provided on the upper end surface of the rod body and is communicated with the flexible tube 723. The hard spray pipe 724 faces the friction portion of the rotating bearing 600. Exemplarily, the extrusion surface 7321 of the abutting portion 732 fits with the outer surface of the elastic rubber bladder 722.

[0058] Exemplarily, the second oil storage assembly 740 includes a positioning frame 741, an oil return tank 742, and an oil return pipe 743. The positioning frame 741 is provided on the bracket 710, the oil return tank 742 is embedded in the positioning frame 741. A temporary oil storage tank 232 and a return channel 233 are provided in the lower rod body 230. The temporary oil storage tank 232 is communicatively provided below the rotating groove 231. The upstream end of the return channel 233 is communicated with the temporary oil storage tank 232. The lower pipe end of the oil return pipe 743 is communicated with the top end of the oil return tank 742, and the upper pipe end is communicated with the downstream end of the return channel 233. Exemplarily, the temporary oil storage tank 232 is an annular groove, and the width of the upper opening of the temporary oil storage tank 232 is greater than the width of the friction portion of the rotating bearing 600, so that the excess lubricating oil at the friction portion of the rotating bearing 600 can smoothly enter the temporary oil storage tank 232.

[0059] On this basis, in order to realize the automatic supply and recovery of lubricating oil, improve the utilization efficiency of the lubrication system, and reduce the waste of lubricating oil, a lubricating oil circulation system composed of the first oil storage assembly 720 and the second oil storage assembly 740 is specially designed. The first oil storage assembly 720 is used to store and supply lubricating oil, while the second oil storage assembly 740 is used to collect and recycle lubricating oil, so that the lubricating oil can be recycled, reducing the maintenance workload and improving the operation stability of the parallel robot.

[0060] Specifically, when the upper rod body 220 rotates relative to the lower rod body 230, the pushing portion 731 gradually drives the abutting portion 732 to change its angle, and then the pressing surface 7321 of the abutting portion 732 applies an external pressing force to the elastic rubber bladder 722. Since the inside of the elastic rubber bladder 722 is a closed structure, under the action of the external pressing force, the lubricating oil inside it will be compressed and stably transported to the friction part of the rotary bearing 600 through the communication path of the flexible tube 723 and the hard spray tube 724, thereby effectively reducing the frictional resistance of the bearing and reducing the overheating phenomenon caused by high-frequency rotation.

[0061] In addition, in order to improve the utilization rate of the lubricating oil and reduce the loss of the lubricating oil, the present invention further provides a second oil storage assembly 740. When the lubricating oil enters the friction part of the rotary bearing 600, part of the lubricating oil will adhere to the surface of the friction part of the rotary bearing 600 to form a lubricating film, and the excess lubricating oil will flow into the temporary oil storage tank 232 along the rotary bearing 600 under the action of gravity, and flow to the oil return pipe 743 through the return channel 233, and then enter the oil return tank 742 for storage. The design of this lubricating oil circulation system enables the lubricating oil to be fully utilized during the operation of the entire parallel robot, improves the use efficiency of the lubricating oil, and reduces unnecessary waste. At the same time, since the recovery process of the lubricating oil mainly relies on the principles of gravity and hydrodynamics and does not require additional power equipment, the complexity of the system is reduced and the energy consumption is reduced.

[0062] To sum up, through the cooperation of the first oil storage assembly 720 and the second oil storage assembly 740, the lubrication system of the present invention has the functions of automatic oil supply, oil return and recycling, reduces the need for manual maintenance to a certain extent, improves the reliability of the lubrication system, and extends the service life of the rotary bearing 600, making the parallel robot have better stability during long-term operation.

[0063] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all should be covered by the protection scope of the present invention.

Claims

1. A parallel robot for test simulation, characterized in that It includes an upper platform (100), a link mechanism (200), a sliding mechanism (300), and a mounting base (400). There are six groups of the mounting bases (400) provided below the upper platform (100). The six groups of the mounting bases (400) form an equilateral triangle directly below the upper platform (100). Each two groups of the mounting bases (400) form one side of the equilateral triangle. The mounting base (400) has an upper inclined surface (410). The sliding mechanism (300) is arranged on the upper inclined surface (410). The link mechanism (200) is hinged between the upper platform (100) and the sliding mechanism (300). The sliding mechanism (300) is used to drive the lower end of the link mechanism (200) to reciprocate along the length direction of the upper inclined surface (410) to correspondingly adjust the inclination degree of the link mechanism (200). Among them, in two groups of the mounting bases (400) on one side of the equilateral triangle, the plate surfaces of the two upper inclined surfaces (410) face each other and are mirror-symmetrical; the link mechanism (200) includes an upper hinge seat (210), an upper rod body (220), a lower rod body (230), and a lower hinge seat (240). One end of the upper rod body (220) is hinged to the upper platform (100) through the upper hinge seat (210). One end of the lower rod body (230) is hinged to the sliding mechanism (300) through the lower hinge seat (240). The upper rod body (220) and the lower rod body (230) are coaxially rotatably connected so that the link mechanism (200) has a rotational degree of freedom.

2. The parallel robot for test simulation according to claim 1, wherein the sliding mechanism (300) includes a driving component (310) and a moving component (320). The driving component (310) is used to drive the moving component (320) to reciprocate along the length direction of the upper inclined surface (410). The lower hinge seat (240) is installed on the moving component (320).

3. The parallel robot for test simulation according to claim 2, characterized in that, The driving component (310) includes a motor (311) and a reciprocating lead screw (312). An installation plate (420) is vertically provided at the topmost end of the upper inclined surface (410). The motor (311) is arranged on the installation plate (420). The reciprocating lead screw (312) is coaxially arranged on the output shaft of the motor (311), and the extending direction of the reciprocating lead screw (312) is consistent with the length direction of the upper inclined surface (410); the moving component (320) includes a moving seat (321), a slider (322), and a lead screw nut (323). The slider (322) is arranged below the moving seat (321). The lead screw nut (323) penetrates through the moving seat (321), and the lead screw nut (323) is threadedly sleeved on the reciprocating lead screw (312). A slide rail (430) is arranged along the length direction of the upper inclined surface (410). The slider (322) is slidably matched with the slide rail (430).

4. A parallel robot for test simulation according to claim 3, characterized in that, On the upper inclined surface (410) and on both sides in the length direction of the slide rail (430), baffles (440) are respectively provided. The reciprocating lead screw (312) is rotatably connected to the two baffles (440) respectively. The baffles (440) are used to define the moving range of the moving seat (321).

5. The parallel robot for test simulation according to claim 4, wherein A buffer pad (441) is provided on the inner plate surface of the baffle (440). Along the length direction of the slide rail (430), the buffer pad (441) faces the end wall of the moving seat (321).

6. The parallel robot for test simulation according to claim 3, characterized in that, A driving auxiliary component (500) is further provided on the mounting base (400). The driving auxiliary component (500) includes a first roller body (510), a second roller body (520), a third roller body (530) and a rubber rope (540). Among them, One first roller body (510) is provided on each of the two sides of the moving seat (321), and the length direction of the first roller body (510) is perpendicular to the length direction of the upper inclined surface (410); The second roller body (520) is provided on the side wall of the mounting base (400) close to the lowest end of the upper inclined surface (410), and the third roller body (530) is provided on the side wall of the mounting base (400) close to the highest end of the upper inclined surface (410). The second roller body (520) and the third roller body (530) are both parallel to the first roller body (510); The rubber rope (540) is tightly wound around the first roller body (510), the second roller body (520) and the third roller body (530), so that when the moving seat (321) makes a reciprocating motion within its own moving range, the rubber rope (540) always has an elastic tension applied to the moving seat (321).

7. A parallel robot for test simulation according to any one of claims 1-6, characterized in that, The upper rod body (220) is rotatably connected to the lower rod body (230) through a rotating bearing (600). A rotating groove (231) is formed at the end of the lower rod body (230). The rotating bearing (600) is in interference fit in the rotating groove (231). A rotating rod (221) is coaxially provided at the lower end of the upper rod body (220). The rotating rod (221) is in interference fit with the inner ring of the rotating bearing (600); A rotating oil replenishing mechanism (700) is provided at the connection between the upper rod body (220) and the lower rod body (230). The rotating oil replenishing mechanism (700) is used to automatically replenish lubricating oil to the friction part of the rotating bearing (600) when the upper rod body (220) and the lower rod body (230) rotate relative to each other; The rotating oil replenishing mechanism (700) includes a bracket (710), a first oil storage component (720), a rotating extrusion component (730) and a second oil storage component (740). The bracket (710) is installed on the outer wall of the lower rod body (230). The first oil storage component (720) and the second oil storage component (740) are both provided on the bracket (710). The rotating extrusion component (730) is provided between the bracket (710) and the outer wall of the upper rod body (220). Among them, When the upper rod body (220) and the lower rod body (230) rotate relative to each other, the rotation extrusion assembly (730) gradually applies an extrusion force to the first oil storage assembly (720), so that part of the lubricating oil in the first oil storage assembly (720) enters into the friction part of the rotary bearing (600), and the second oil storage assembly (740) is used to collect the excess lubricating oil overflowing from the friction part of the rotary bearing (600).

8. A parallel robot for test simulation according to claim 7, characterized in that, The outer diameter of the upper rod body (220) is larger than that of the lower rod body (230), and an annular enclosure (222) is provided at the end edge of the upper rod body (220). The annular enclosure (222) circumferentially covers the rotary rod (221) and the rotary bearing (600), and a penetration gap (223) is formed between the annular enclosure (222) and the outer peripheral wall of the lower rod body (230).

9. The parallel robot for test simulation according to claim 8, characterized in that, The rotation extrusion assembly (730) includes a pushing part (731), an abutting part (732) and a torsion spring (733), wherein The pushing part (731) has a first pushing surface (7311), a second pushing surface (7312) and a third pushing surface (7313) which are smoothly connected in sequence. The first pushing surface (7311) and the third pushing surface (7313) are symmetrically arranged on both sides of the second pushing surface (7312). The first pushing surface (7311) and the third pushing surface (7313) are both inclined surfaces, and the second pushing surface (7312) is an arc surface; The abutting part (732) is hinged to the bracket (710), and the torsion spring (733) is arranged at the hinged part of the abutting part (732) and the bracket (710). The torsion spring (733) always keeps the abutting part (732) in a position parallel to the length direction of the lower rod body (230); The abutting part (732) has an extrusion surface (7321) and an abutting surface (7322) which face away from each other. The extrusion surface (7321) is used to contact the first oil storage assembly (720). The abutting surface (7322) is an arc surface, and both the first pushing surface (7311) and the third pushing surface (7313) are separated from the abutting surface (7322) in the circumferential direction of the lower rod body (230). The second pushing surface (7312) and the abutting surface (7322) have an overlapping part in the circumferential direction of the lower rod body (230). When the upper rod body (220) and the lower rod body (230) rotate relative to each other, the second pushing surface (7312) can abut against the abutting surface (7322) relatively, so that the extrusion surface (7321) approaches the first oil storage assembly (720).

10. A parallel robot for test simulation according to claim 9, characterized in that, The first oil storage assembly (720) includes a limit frame (721), an elastic rubber bladder (722), a flexible tube (723), and a hard spray pipe (724). The limit frame (721) is arranged on the side of the bracket (710) away from the lower rod body (230), and the limit frame (721) and the pushing part (731) form a limit space for accommodating the elastic rubber bladder (722). The elastic rubber bladder (722) is integrally provided with a perfusion hard tube (7221), and a sealing cap (7222) is detachably arranged on the perfusion hard tube (7221). One end of the flexible tube (723) is communicated with the bottom of the elastic rubber bladder (722), and the other end extends to the upper end surface of the lower rod body (230) after passing through the penetration gap (223). The hard spray pipe (724) is arranged on the upper end surface of the rod body and is communicated with the flexible tube (723). The hard spray pipe (724) faces the friction part of the rotating bearing (600); The second oil storage assembly (740) includes a positioning frame (741), an oil return tank (742), and an oil return pipe (743). The positioning frame (741) is arranged on the bracket (710), the oil return tank (742) is embedded in the positioning frame (741), a temporary oil storage tank (232) and a return flow channel (233) are arranged in the lower rod body (230). The temporary oil storage tank (232) is communicated and arranged below the rotating groove (231). The upstream end of the return flow channel (233) is communicated with the temporary oil storage tank (232). The lower end of the oil return pipe (743) is communicated with the top end of the oil return tank (742), and the upper end of the oil return pipe (743) is communicated with the downstream end of the return flow channel (233).

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