A wire-driven parallel gantry robot

Abstract

The application relates to the technical field of gantry robots, and particularly discloses a wire-driven parallel gantry robot, which comprises a gantry, the top of the gantry is provided with opposite Y-axis tracks, the Y-axis tracks are slidably connected with an X-axis track, the X-axis track is slidably connected with two force arm connecting heads, the upper and lower ends of the two sides of the force arm connecting heads are fixedly connected with two traction ropes, the two traction ropes are supported by pulleys and driving assemblies to form a tension state, and the two traction ropes and the force arm connecting heads jointly form a loop. The wire-driven parallel gantry robot improves the power transmission efficiency. The simple traction ropes replace a large number of mechanical components, and the position of a mechanical hand can be adjusted along the X, Y and Z axis trajectories, the saving of the mechanical components is accompanied by the reduction of the overall weight of the equipment, the reduction of the required power of the driving equipment, the reduction of the bearing capacity of the gantry and the like, and the space occupied by the supporting components can be reduced, so that the gantry robot can be applied to more ranges.

Description

Technical Field

[0001] The present invention relates to the technical field of gantry robots, in particular to a wire-driven parallel gantry robot. Background Art

[0002] In many fields, such as modern industrial manufacturing and logistics warehousing, the demand for automated production and operations is growing. Robots, as key equipment for achieving this automation, are widely used. Gantry robots, with their ability to achieve high-precision positioning and manipulation within a large workspace, have become the preferred choice in many industries. Traditional gantry robots typically use rigid linkages or transmission methods such as rack and pinion gears or screw-nuts to achieve motion in each axis.

[0003] The rigid linkage mechanisms of traditional gantry robots are often complex and comprise numerous components. This not only increases the manufacturing difficulty and production cost of the robots, but also complicates maintenance and upkeep. Numerous components require precise assembly and commissioning, and any problem in any step can impact the robot's overall performance. Furthermore, over long periods of use, wear and damage to components necessitate prompt replacement and repair, further increasing operating costs.

[0004] The design of traditional gantry robots often presents a conflict between payload capacity and workspace. Increasing payload typically requires increasing the robot's size and weight, but this results in a reduction in workspace and reduced mobility. Conversely, expanding the workspace may require sacrificing payload capacity. This conflict makes traditional gantry robots difficult to implement in applications requiring both high payload and high workspace.

[0005] Transmission methods such as rack and pinion and lead screw and nut systems incur energy losses during power transmission. For example, gear transmission generates friction and noise, while lead screw and nut transmissions are relatively inefficient, with energy losses becoming more pronounced during long travels. This not only increases the robot's energy consumption but also potentially affects its accuracy and stability.

[0006] To address the problems of traditional gantry robots, several research and improvement proposals have been proposed. For example, new materials have been used to reduce the robot's weight, or the transmission mechanism has been optimized to improve power transmission efficiency. However, these improvements often only alleviate the problems to a certain extent and fail to fundamentally address the complex structure and limited mobility of traditional gantry robots. Moreover, some improvement proposals may introduce new problems, such as the higher cost of new materials and reduced reliability of optimized transmission mechanisms.

[0007] In summary, to meet modern industrial demands for high precision, high flexibility, high payload capacity, and low cost, the development of a new type of wire-driven parallel gantry robot is of great practical significance. By adopting a wire-driven structure and parallel mechanism, this robot is expected to overcome the shortcomings of traditional gantry robots and improve their overall performance and application range. Summary of the Invention

[0008] The object of the present invention is to provide a wire-driven parallel gantry robot to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A wire-driven parallel gantry robot comprises a gantry, wherein the top of the gantry is provided with relative Y-axis tracks, an X-axis track is slidably connected between the two Y-axis tracks, and the X-axis tracks are slidably connected to two force arm connectors, wherein the two force arm connectors are magnetically attracted together, the bottoms of the force arm connectors are rotatably connected to the Z-axis force arms, and the bottoms of the two Z-axis force arms are rotatably connected to a manipulator; two traction ropes are fixed to the upper and lower ends of the two opposite sides of the two force arm connectors, a plurality of pulleys are rotatably connected to the gantry and the X-axis tracks, and a drive assembly is slidably connected to the gantry; the two traction ropes are respectively supported by the pulleys and the drive assembly to form a tensioned state, and form a loop together with the force arm connectors; the top of the gantry is also provided with a traction drive group connected to the drive assembly.

[0011] Preferably, the traction drive group includes a traction support seat, a second drive motor is arranged on the inside of the traction support seat, the output end of the second drive motor is connected to a screw, the outer side of the screw is threadedly connected to a connecting plate, both ends of the connecting plate are connected to a movable support seat, and the drive assembly is arranged on the movable support seat.

[0012] Preferably, the top of the gantry is also fixedly connected to a traction rail, and the bottom of the movable support seat is fixedly connected to a third limiting slider, and the third limiting slider is slidably connected to the traction rail.

[0013] Preferably, the drive assembly includes a first drive motor fixed to the movable support base, the output end of the first drive motor is connected to a transmission shaft rotatably connected to the movable support base through a belt, a rope groove is provided on the outer wall of the transmission shaft, and a friction surface is provided on the inner wall of the rope groove.

[0014] Preferably, magnets that attract each other are provided on opposite sides of the two lever arm connectors.

[0015] Preferably, a reset member is further provided between the two lever arm connectors.

[0016] Preferably, the force arm connector is connected with the Z-axis force arm through a connector, and a buffer is arranged between the connector and the force arm connector.

[0017] Preferably, the traction rope is made of rough nylon rope.

[0018] Preferably, the top of the X-axis track is provided with a third pulley at each end, and a pulley groove is arranged at the upper and lower ends of the outer wall of the third pulley.

[0019] Preferably, the driving assembly is divided into driving assembly A and driving assembly B, the traction rope is divided into traction rope A and traction rope B, the driving assembly A drives the traction rope A, and the driving assembly B drives the traction rope B.

[0020] Compared with the prior art, the beneficial effects of the present application are:

[0021] The line-driven parallel gantry robot is provided with a plurality of limiting sliding blocks at the sliding connection positions of key components. The first limiting sliding block at the bottom of the X-axis track is sleeved on the outer side of the Y-axis track, the second limiting sliding block at the inner side of the force arm connector is sleeved on the outer side of the X-axis track, and the third limiting sliding block at the bottom of the moving support seat is in sliding connection with the traction track. The design of these limiting sliding blocks greatly increases the stability of each component during sliding, effectively reduces shaking and deviation, ensures high-precision positioning of the robot during long-time operation, reduces errors caused by component shaking, and improves work reliability.

[0022] The opposite faces of the two force arm connectors are provided with mutually magnetically attracted magnets, and the magnetic attraction force is greater than the pulling force of the driving assembly on the force arm connector. This design avoids the situation that the two force arm connectors are separated when the driving assemblies rotate towards each other or in opposite directions, ensuring normal operation of the mechanical hand in the Y-axis track, X-axis track and Z-axis force arm directions. The structural integrity and stability of the robot during complex movement avoid inaccurate execution caused by position adjustment errors, and improve production efficiency.

[0023] When the driving assembly A and the driving assembly B work simultaneously at the same frequency, different rotating modes of the transmission shafts driven by the first driving motor can realize a plurality of horizontal movement modes. When the two transmission shafts rotate in the same direction, the traction ropes simultaneously pull the force arm connectors to move on the X-axis track, thereby driving the mechanical hand to move in the horizontal direction; if movement to the opposite position is required, only the two transmission shafts need to be reversely rotated. In addition, when the two transmission shafts rotate relatively or in opposite directions, the X-axis track can be driven to move on the Y-axis track, so that the mechanical hand can be flexibly adjusted in position in a larger working space, meeting the requirements for position and attitude in different working scenes.

[0024] The entire drive assembly moves by rotating the leadscrew through the second drive motor in the traction drive group. This movement changes the total length of the loop formed by the traction rope and the lever arm connector, exerting a pulling force on the traction rope. This forces the traction rope to pull the two lever arm connectors in opposite directions, thereby tilting the Z-axis lever arm and achieving precise adjustment of the manipulator's horizontal height. Furthermore, while maintaining the same traction rope length, the distance the drive assembly moves precisely controls the distance the two lever arm connectors separate, enabling movement of the manipulator along the Z-axis lever arm, further improving the accuracy of the manipulator's horizontal height adjustment.

[0025] The lever arm connector is pivotally connected to the Z-axis lever arm via a connector, and a buffer (compression spring) is placed between the connector and the lever arm connector. This buffer dampens the force applied to the lever arm connector when the Z-axis lever arm shakes, reducing impact and wear between components, lowering the probability of component damage, extending the robot's service life, and reducing maintenance costs associated with component replacement and repair.

[0026] Compared to traditional rigid linkages and transmission methods like rack and pinion, screws, and nuts, the wire-drive structure reduces energy loss during transmission, improves power transmission efficiency, and reduces the robot's energy consumption. This conforms to the trend of energy conservation and environmental protection, and offers excellent economic and social benefits. A simple traction rope replaces a large number of mechanical components, while also allowing the position of the manipulator to be adjusted along the X, Y, and Z axes. This reduction in mechanical components reduces the overall weight of the device, the power required to drive the device, and the load-bearing capacity of the gantry. This, in turn, reduces the space occupied by support components, making the gantry robot applicable to a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a gantry in a preferred embodiment of the present invention;

[0028] Figure 2 A top view of a gantry in a preferred embodiment of the present invention;

[0029] Figure 3 This is a schematic structural diagram of a driving assembly in a preferred embodiment of the present invention;

[0030] Figure 4 This is a structural diagram of a traction drive group in a preferred embodiment of the present invention;

[0031] Figure 5 This is a structural schematic diagram of a movable support base in a preferred embodiment of the present invention;

[0032] Figure 6 This is a schematic structural diagram of a Z-axis lever arm in a preferred embodiment of the present invention;

[0033] Figure 7 Structure diagram of two force arm connectors connected together in a preferred embodiment of the present application;

[0034] Figure 8 Structure diagram of a single force arm connector in a preferred embodiment of the present application.

[0035] In the figure: 1, gantry, 2, Y-axis rail, 3, X-axis rail, 4, traction rail, 5, drive assembly A, 51, first drive motor, 52, transmission shaft, 53, rope groove, 6, first pulley, 7, second pulley, 8, third pulley, 9, drive assembly B, 10, traction rope A, 11, traction rope B, 12, force arm connector, 13, Z-axis force arm, 14, manipulator, 15, traction drive group, 151, traction support seat, 152, second drive motor, 153, lead screw, 154, connecting plate, 155, moving support seat, 156, third limit slider, 16, first limit slider, 17, adapter, 18, buffer, 19, magnet, 20, reset piece, 21, second limit slider. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] Please refer to Figures 1-8 The present application provides a technical solution:

[0038] A line-driven parallel gantry robot, comprising a gantry 1, the top of the gantry 1 is provided with opposite Y-axis rails 2, the X-axis rail 3 is slidably connected between the two Y-axis rails 2, the bottom of the X-axis rail 3 is fixedly connected with a first limit slider 16 at both ends, the first limit slider 16 is sleeved on the outside of the Y-axis rail 2, for increasing the stability effect when the X-axis rail 3 slides along the Y-axis rail 2, and the first limit slider 16 is slidably connected with the Y-axis rail 2.

[0039] The X-axis rail 3 is slidably connected with two force arm connectors 12, the inner side of the force arm connector 12 is provided with a second limit slider 21, the second limit slider 21 is sleeved on the outside of the X-axis rail 3, for increasing the stability effect when the force arm connector 12 slides along the X-axis rail 3, and the second limit slider 21 is slidably connected with the X-axis rail 3.

[0040] The two lever connectors 12 are provided with mutually attracted magnets 19 on opposite sides. The lever connectors 12 are magnetically attracted together by the magnets 19, and the magnetic attraction force is greater than the pulling force given to the two lever connectors 12 by the traction rope when the two drive components rotate toward or in opposite directions, thereby preventing the two drive components from rotating toward or in opposite directions and separating the two lever connectors 12.

[0041] The bottoms of the two lever connectors 12 are rotatably connected to Z-axis lever arms 13, which are also rotatably connected to a manipulator 14. When the lever connectors 12 move away from each other, they tilt the Z-axis lever arms 13, thereby raising the manipulator 14. When the lever connectors 12 move toward each other, they lower the manipulator 14. When the lever connectors 12 move simultaneously and in the same direction, they drive the Z-axis lever arms 13 to move horizontally on the X-axis track 3, while maintaining the manipulator 14's horizontal height. Two traction ropes are connected to the upper and lower ends of the lever connectors 12 on opposite sides (i.e., the side of each lever connector 12 facing away from the magnetic surface). These traction ropes are used to pull the lever connectors 12 on the X-axis track 3. Multiple pulleys are rotatably connected to both the gantry 1 and the X-axis track 3. A drive assembly is also slidably connected to the gantry 1, primarily driving and supporting the traction ropes. The two traction ropes are supported by pulleys and drive components to form a tensioned state, and each traction rope forms a loop with the arm connector 12. A traction drive group 15 connected to the drive component is also provided on the top of the gantry 1, and the traction drive group 15 can drive the drive component to move.

[0042] The multiple pulleys include a first pulley 6, a second pulley 7, and a third pulley 8. The first pulley 6 and the second pulley 7 are both located at the two corners of the top of the gantry 1. The third pulley 8 is located at both ends of the top of the X-axis track 3. The outer wall of the third pulley 8 is provided with pulley grooves at both ends.

[0043] The driving assembly is divided into a driving assembly A5 and a driving assembly B9, and the traction rope is divided into a traction rope A10 and a traction rope B11. The driving assembly A5 drives the traction rope A10 to move, and the driving assembly B9 drives the traction rope B11 to move.

[0044] The traction rope A10 passes through the driving assembly A5, the two first pulleys 6 and the two third pulleys 8, and the two ends of the traction rope A10 are respectively fixed to the top of the outer ends of the two force arm connectors 12 to form a loop.

[0045] The traction rope B11 passes through the driving assembly B9, the two second pulleys 7 and the two third pulleys 8. The two ends of the traction rope B11 are respectively fixed to the bottom of the outer ends of the two lever arm connectors 12 to form a loop.

[0046] The traction rope A10 and the traction rope B1 are staggered in horizontal height, and are staggered up and down to avoid contact and generate friction force.

[0047] The traction driving group 15 comprises a traction support seat 151, the inner side of the traction support seat 151 is provided with a second driving motor 152, the output end of the second driving motor 152 is connected with a lead screw 153, the outer side of the lead screw 153 is threadedly connected with a connecting plate 154, both ends of the connecting plate 154 are connected with a moving support seat 155, and the driving assembly is arranged on the moving support seat 155. The second driving motor 152 drives the lead screw 153 to rotate, the lead screw 153 drives the connecting plate 154 threadedly connected therewith to move, the connecting plate 154 simultaneously drives the two moving support seats 155 to move, and the moving support seat 155 drives the driving assembly to move. The movement of the driving assembly changes the total length of the loop formed by the traction rope and the force arm connecting head 12, generates pulling force on the traction rope, the traction rope is pulled, the traction rope A10 and the traction rope B11 pull the two force arm connecting heads 12 in different directions, and the horizontal height of the mechanical hand 14 is adjusted. In the case that the length of the traction rope is unchanged, the distance of the movement of the driving assembly affects the distance of the separation of the two force arm connecting heads 12, and then affects the distance of the adjustment of the horizontal height of the mechanical hand 14.

[0048] The top of the portal frame 1 is further fixedly connected with a traction track 4, the bottom of the moving support seat 155 is fixedly connected with a third limiting sliding block 156, and the third limiting sliding block 156 is in sliding connection with the traction track 4. The traction track 4 is used for limiting the track of the movement of the moving support seat 155 and improving the stability of the movement of the moving support seat 155.

[0049] The driving assembly comprises a first driving motor 51 fixedly connected with the moving support seat 155, the output end of the first driving motor 51 is connected with a transmission shaft 52 in rotational connection with the moving support seat 155 through a belt, the outer wall of the transmission shaft 52 is provided with a rope groove 53, and the inner wall of the rope groove 53 is provided with a friction surface. The traction rope is in contact with the friction surface of the inner wall of the rope groove 53, the friction surface is arranged to increase the friction between the traction rope and the rope groove 53, and the rope is prevented from slipping.

[0050] A restoring member 20 is further arranged between the two force arm connecting heads 12. The restoring member 20 is a tensile spring, and is used for pulling the two force arm connecting heads 12 to each other.

[0051] The force arm connecting head 12 is in rotational connection with the Z-axis force arm 13 through a connecting head 17, and a buffer member 18 is arranged between the connecting head 17 and the force arm connecting head 12. The buffer member 18 is also a compression spring, and functions to reduce the force given to the force arm connecting head 12 when the Z-axis force arm 13 shakes.

[0052] The traction rope is made of a nylon rope with a rough surface.

[0053] Working principle:

[0054] Drive assembly A5 and drive assembly B9 operate simultaneously and at the same frequency. When the first drive motors 51 of drive assembly A5 and drive assembly B9 drive the two transmission shafts 52 to rotate in the same direction, traction ropes A10 and traction ropes B11 simultaneously pull the force arm connector 12 to move on the X-axis track 3. Then, through the traction force arm connector 12, the Z-axis force arm 13 moves, and thus the robot 14 moves. To move to the opposite position, the two first drive motors 51 simultaneously drive the two transmission shafts 52 to rotate in the same and opposite directions.

[0055] When the two first drive motors 51 of the drive assembly A5 and the drive assembly B9 drive the two transmission shafts 52 to rotate relative to each other, the traction rope A10 and the traction rope B11 are respectively driven to rotate relative to each other through the two transmission shafts 52. The traction rope A10 and the traction rope B11 pull the lever arm connector 12 in opposite directions at the same time and with the same force. The lever arm connector 12 remains stationary on the X-axis track 3, thereby driving the X-axis track 3 to move on the Y-axis track 2, so that the X-axis track 3 brings the robotic arm closer to one end of the drive assembly.

[0056] When the two first drive motors 51 of the drive assembly A5 and the drive assembly B9 drive the two transmission shafts 52 to rotate in opposite directions, the traction rope A10 and the traction rope B11 are respectively driven to rotate in opposite directions through the two transmission shafts 52. The traction rope A10 and the traction rope B11 pull the lever arm connector 12 in opposite directions at the same time and with the same force. The lever arm connector 12 remains stationary on the X-axis track 3, thereby driving the X-axis track 3 to move on the Y-axis track 2, so that the X-axis track 3 moves with the robotic arm away from the end of the drive assembly.

[0057] Since the two arm connectors 12 are connected by magnetic attraction, and the magnetic attraction force is greater than the pulling force given to the two arm connectors 12 by the traction rope when the two driving components rotate toward each other or in the opposite direction, the two arm connectors 12 will not be separated when the two driving components rotate toward each other or in the opposite direction, thereby realizing the movement of the X-axis track 3 on the Y-axis track 2.

[0058] When the manipulator 14 needs to be adjusted upward, the second drive motor 152 is activated, which drives the lead screw 153 to rotate, driving the connecting plate 154 to move along the traction track 4. The connecting plate 154 drives the movable support 155 to move, thereby driving the entire drive assembly to move. The movement of the transmission shaft 52 pulls the traction rope, which then pulls the two lever arm connectors 12 in opposite directions. This pulling force is greater than the magnetic attraction between the magnets 19. The lever arm connector 12 then drives the Z-axis lever arm 13 to tilt, causing the lever arm 13 to pull the manipulator 14 to change its horizontal height.

[0059] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0060] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one such feature.

[0061] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0062] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A wire-driven parallel gantry robot, comprising a gantry (1), wherein the top of the gantry (1) is provided with opposite Y-axis rails (2), and an X-axis rail (3) is slidably connected between two Y-axis rails (2), characterized in that: The X-axis track (3) is slidably connected to two arm connectors (12), wherein the two arm connectors (12) are magnetically attracted together, the bottom of the arm connector (12) is rotatably connected to a Z-axis arm (13), and the bottom of the two Z-axis arm (13) is rotatably connected to a manipulator (14); two traction ropes are fixed to the upper and lower ends of the two opposing sides of the arm connectors (12), and a plurality of pulleys are rotatably connected to the gantry (1) and the X-axis track (3), and a drive assembly is slidably connected to the gantry (1); the two traction ropes are respectively supported by the pulleys and the drive assembly to form a tensioned state, and form a loop together with the arm connector (12); the top of the gantry (1) is also provided with a traction drive group (15) connected to the drive assembly; The traction drive group (15) comprises a traction support seat (151), a second drive motor (152) is provided inside the traction support seat (151), an output end of the second drive motor (152) is connected to a lead screw (153), an outer side of the lead screw (153) is threadedly connected to a connecting plate (154), both ends of the connecting plate (154) are connected to a movable support seat (155), and the drive assembly is provided on the movable support seat (155); When the horizontal height of the manipulator (14) needs to be adjusted upward, the second drive motor (152) starts to work, and the second drive motor (152) drives the lead screw (153) to rotate, drives the connecting plate (154) to move, and drives the movable support seat (155) to move through the connecting plate (154), thereby driving the entire drive assembly to move; the movement of the drive assembly will pull the traction rope, and then the traction rope will pull the two force arm connectors (12) to move in opposite directions. The pulling force is greater than the magnetic attraction force, and then the Z-axis force arm (13) is driven to tilt through the force arm connector (12), so that the horizontal height of the traction manipulator (14) is changed.

2. A wire-driven parallel gantry robot according to claim 1, characterized in that: The top of the gantry (1) is also fixedly connected to a traction rail (4), and the bottom of each of the movable support seats (155) is fixedly connected to a third limiting slider (156), and the third limiting slider (156) is slidably connected to the traction rail (4).

3. The wire-driven parallel gantry robot according to claim 1, characterized in that: The driving assembly comprises a first driving motor (51) fixedly connected to the movable support seat (155); an output end of the first driving motor (51) is connected to a transmission shaft (52) rotatably connected to the movable support seat (155) via a belt; an outer wall of the transmission shaft (52) is provided with a rope groove (53); and an inner wall of the rope groove (53) is provided with a friction surface.

4. The wire-driven parallel gantry robot according to claim 1, characterized in that: Mutually attracted magnets (19) are provided on opposite sides of the two lever arm connectors (12).

5. The wire-driven parallel gantry robot according to claim 1, characterized in that: A reset member (20) is also provided between the two lever arm connectors (12).

6. The wire-driven parallel gantry robot according to claim 1, characterized in that: The lever arm connector (12) is rotatably connected to the Z-axis lever arm (13) via a connector (17), and a buffer (18) is provided between the connector (17) and the lever arm connector (12).

7. The wire-driven parallel gantry robot according to claim 1, characterized in that: The traction rope is made of a nylon rope with a rough surface.

8. The wire-driven parallel gantry robot according to claim 1, characterized in that: A third pulley (8) is provided at both ends of the top of the X-axis track (3), and pulley grooves are provided at both upper and lower ends of the outer wall of the third pulley (8).

9. The wire-driven parallel gantry robot according to claim 1, characterized in that: The driving assembly is divided into a driving assembly A (5) and a driving assembly B (9), and the traction rope is divided into a traction rope A (10) and a traction rope B (11). The driving assembly A (5) drives the traction rope A (10), and the driving assembly B (9) drives the traction rope B (11).

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