Six-degree-of-freedom parallel robot

Abstract

The invention relates to the technical field of robots, in particular to a high-rigidity and high-precision six-degree-of-freedom parallel robot. And a top plate (13) is arranged above the static platform (11) at an interval. And the top plate (13) and the static platform (11) jointly form a firm bearing frame. The top plate (13) is additionally arranged, so that the track plate (21) of each sliding mechanism (2) can be supported and connected between the static platform (11) and the top plate (13), and a double-end supporting structure with higher rigidity is formed. On the premise that the six-degree-of-freedom motion capability is guaranteed, the structural rigidity and stability of the driving branch chains of the six-degree-of-freedom parallel robot are further enhanced to resist deformation caused by loads and inertia force, and therefore the comprehensive positioning precision and dynamic performance of the movable platform (12) are fundamentally improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a high-rigidity and high-precision six-degree-of-freedom parallel robot. BACKGROUND

[0002] As an important type of industrial robot, parallel robot has the characteristic of closed-loop kinematic chain in structure compared with traditional serial robot. This structural characteristic makes it have the advantages of high rigidity, high load capacity, high speed, high precision and small motion inertia. Therefore, six-degree-of-freedom parallel robot (usually called Stewart platform or Hexapod) has been widely used in many high-demand technical fields, such as flight simulator for pilot training, 4D / 5D cinema motion platform for providing immersive experience, vehicle driving simulator for automobile research and development, high-precision satellite antenna attitude adjustment mechanism, and core motion platform of parallel virtual axis machine tool in high-end manufacturing field.

[0003] In existing parallel robots, the guide components (such as lead screws or guide rails of linear motors) of the drive limbs are usually fixed only on a single fixed platform or support, which is essentially a cantilevered or single-side supported structure. When the robot bears a large load or performs high-acceleration dynamic motion, the guide components of single-side support are prone to produce slight bending deformation or vibration, and this deformation will be directly transmitted to the moving platform, thereby affecting the absolute positioning accuracy and attitude stability of the whole robot. SUMMARY

[0004] In view of this, the present application provides a high-rigidity and high-precision six-degree-of-freedom parallel robot.

[0005] The six-degree-of-freedom parallel robot provided by the present invention includes a static platform, a dynamic platform, a top plate, three sets of sliding mechanisms, six sets of first spherical hinge assemblies, three sets of double-joint mechanisms, and six connecting rods. The top plate is located between the static platform and the dynamic platform, and is closer to the dynamic platform. Each of the three sets of sliding mechanisms has two sets, and the three sets of sliding mechanisms are arranged on the static platform at the same interval angle. Each set of sliding mechanisms includes a track plate and a slider, the two ends of the track plate are supported and connected between the static platform and the top plate, and the slider is slidably arranged on the track plate; each slider is driven by a power device. One set of the six sets of first spherical hinge assemblies is arranged on one of the sliders. Three sets of double-joint mechanisms are arranged on the dynamic platform at the same interval angle, and each set of double-joint mechanisms is provided with a pair of second spherical hinge assemblies. The first end of each of the six connecting rods is connected to one set of the first spherical hinge assemblies, and the second end is connected to one set of the second spherical hinge assemblies. The first spherical hinge components connected by the two connecting rods corresponding to a set of double-joint mechanisms do not belong to the same set of sliding mechanisms.

[0006] In a preferred technical solution of the six-degree-of-freedom parallel robot provided by the present invention, the sliding mechanism also includes a screw, which is threadedly coupled with the slider, one end of the screw is connected to the static platform through a first bearing assembly, and the other end is connected to the top plate through a second bearing assembly.

[0007] In a preferred technical solution of the six-degree-of-freedom parallel robot provided by the present invention, the power device is a servo motor, which is arranged on the top surface of the static platform, and every two servo motors are arranged in the gap between two groups of adjacent sliding mechanisms, and the rotating shaft of the servo motor extends out of the static platform and is connected to a first toothed pulley; and one end of the lead screw also extends out of the static platform and is connected to a second toothed pulley, and the first toothed pulley and the second toothed pulley are connected by a toothed annular belt transmission.

[0008] In a preferred technical solution of the six-degree-of-freedom parallel robot provided by the present invention, the six-degree-of-freedom parallel robot further includes three sets of second supports and three groups of servo drivers. The second supports are disposed on the static platform and located in the gap between the two servo motors. Each of the three groups of servo drivers comprises two servo drivers, all disposed on the second supports, with each servo driver electrically connected to one of the servo motors.

[0009] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the six-degree-of-freedom parallel robot further comprises three terminal blocks and a power converter. One terminal block is connected to one second support, and each group of servo drivers is connected to one terminal block. The power converter is arranged on the bottom surface of the static platform and is connected to the three terminal blocks to supply power to each servo driver.

[0010] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the six-degree-of-freedom parallel robot further comprises a base connected to the bottom surface of the static platform, and the top side of the base is formed with an annular groove configured to accommodate six first toothed pulleys, six second toothed pulleys, and a power converter.

[0011] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the six-degree-of-freedom parallel robot further comprises a ring-shaped cover having an axial first end connected to the top plate and an axial second end connected to the static platform, and a plurality of rows of cooling holes arranged on the side wall of the ring-shaped cover corresponding to the servo motors, servo drivers, and sliding mechanisms.

[0012] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the six-degree-of-freedom parallel robot further comprises three first supports, one end of each first support being connected to the top surface of the static platform and the other end being connected to the bottom surface of the top plate, and two track plates of one group of sliding mechanisms being connected to one first support.

[0013] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the first spherical hinge assembly comprises a first hinge seat and a first hinge ball. The first hinge seat is connected to the sliding block, and the opening of the spherical hinge groove is arranged obliquely relative to the static platform. The first hinge ball is arranged in the hinge groove, and the surface of the first hinge ball is provided with a first connecting end, which is connected to the first end of the connecting rod.

[0014] In a preferred technical scheme of the six-degree-of-freedom parallel robot provided by the application, the double-joint mechanism comprises a joint seat, two second hinge seats, and two second hinge balls. The joint seat is arranged on the moving platform. The two second hinge seats are connected to the joint seat, and the openings of the two spherical hinge grooves are arranged obliquely relative to the moving platform. One of the two second hinge balls is arranged in one of the hinge grooves, and the surface of the second hinge ball is provided with a second connecting end, which is connected to the second end of the connecting rod.

[0015] The present invention has the following beneficial technical effects: (1) High rigidity and high stability: The load-bearing frame is constructed by the static platform and the top plate, providing support at both ends for the track plate, greatly improving the rigidity of the guide rail and reducing vibration and deformation under high-speed movement and high loads; (2) Low inertia and high dynamic response: All power equipment and sliding mechanisms are set on a static base, and only lightweight joint mechanisms are on the dynamic platform, which effectively reduces the total inertia of the moving parts, enabling the robot to achieve higher acceleration and faster dynamic response; (3) Compact structure: The layout of the three sets of sliding mechanisms fully utilizes the space, making the overall structure relatively compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art will understand the above and other features and advantages of the present invention more clearly. In the accompanying drawings:

[0017] Figure 1 Schematic diagram of the external structure of the six-degree-of-freedom parallel robot of this embodiment.

[0018] Figure 2 Schematic diagram of the internal structure and transmission system of the six-degree-of-freedom parallel robot of this embodiment.

[0019] Figure 3 Schematic diagram of the arrangement structure of the first toothed belt pulley, the second toothed belt pulley and the power converter of the six-degree-of-freedom parallel robot of this embodiment.

[0020] Figure 4 Schematic diagram of the position arrangement of the servo motor and servo driver of the six-degree-of-freedom parallel robot of this embodiment.

[0021] Figure 5 Schematic diagram of the arrangement structure of the connecting rod, the first spherical hinge assembly and the double-joint mechanism of the six-degree-of-freedom parallel robot of this embodiment.

[0022] Figure 6 Schematic diagram of the connection structure of the connecting rod, the first spherical hinge assembly and the double-joint mechanism of the six-degree-of-freedom parallel robot of this embodiment.

[0023] Figure 7 Schematic diagram of the structure of the base of the six-degree-of-freedom parallel robot of this embodiment.

[0024] The accompanying drawings are numerals as follows:

[0025] 11-static platform; 12-dynamic platform; 13-top plate;

[0026] 2-sliding mechanism; 21-track plate; 201-first support; 22-slider; 23-lead screw; 231-first bearing assembly; 232-second bearing assembly; 24-second toothed pulley;

[0027] 3-first spherical hinge assembly; 31-first hinge seat; 32-first hinge ball; 33-first connecting end;

[0028] 4-double joint mechanism; 41-joint seat; 42-second articulated seat; 43-second articulated ball; 44-second connecting end;

[0029] 5-Connecting rod;

[0030] 61-servo motor; 62-first toothed pulley;

[0031] 71-servo drive; 701-second support; 72-terminal block; 73-power converter;

[0032] 81-base; 811-annular groove;

[0033] 9-ring cover; 901-heat dissipation hole. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail with reference to the following examples.

[0035] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", 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 this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0036] See also Figures 1 to 6 This embodiment describes an implementation of a six-degree-of-freedom parallel robot. The six-degree-of-freedom parallel robot provided in this embodiment is a high-rigidity, high-precision, and compact six-degree-of-freedom motion platform.

[0037] The six-degree-of-freedom parallel robot includes a static platform 11 as a base and a dynamic platform 12 for performing tasks. In one embodiment, the static platform 11 and the dynamic platform 12 can be regular hexagonal or circular plate-like structures. To meet the requirements of lightweight and high rigidity, they can be made of materials such as aviation aluminum alloy through CNC processing.

[0038] A top plate 13 is spaced apart above the static platform 11. Top plate 13 is located between the static platform 11 and the dynamic platform 12, and is closer to the dynamic platform 12. Specifically, the distance between the static platform 11 and top plate 13 is greater than the distance between the top plate 13 and the dynamic platform 12 in their initial position. Together, top plate 13 and the static platform 11 form a sturdy load-bearing frame.

[0039] Three groups of sliding mechanisms 2 are arranged inside the supporting frame. These three groups of sliding mechanisms 2 are radially distributed at equal intervals with the center of the static platform 11 as the center of the circle. Each group of sliding mechanisms 2 includes two sets of parallel sub-mechanisms with the same structure. Specifically, each set of sliding mechanisms 2 includes a track plate 21 as a guide rail and a slider 22 that can slide on it. The track plate 21 is a rigid plate, and its two ends are firmly supported and connected between the static platform 11 and the top plate 13 by fasteners such as bolts to form a vertical guide rail. For example, a slide groove is formed on each side wall of the track plate 21, and a rib is formed on the slider 22 to slide in the cover slide groove.

[0040] In order to achieve controlled motion of the sliders 22, each slider 22 is driven by an independent power device. This power device can be a hydraulic cylinder, a servo motor 61, a stepper motor or other linear drive device, which ensures that the motion of each slider 22 is independently controllable.

[0041] The robot's kinematic chain consists of six connecting rods 5. The first end (e.g., the bottom) of each connecting rod 5 is connected to a corresponding slider 22 via a set of first spherical hinge assemblies 3. Correspondingly, the second end (e.g., the top) of each connecting rod 5 is connected to the moving platform 12. To aggregate the connecting rods, three sets of double-joint mechanisms 4 are installed at equal angular intervals on the moving platform 12. Each set of double-joint mechanisms 4 is equipped with a pair of second spherical hinge assemblies for connecting two different connecting rods 5.

[0042] A core inventive point of this embodiment lies in its unique connection topology. The two connecting rods 5 corresponding to a set of double-joint mechanisms 4 do not belong to the same group of sliding mechanisms 2 as the first spherical hinge components 3 (i.e., sliders 22) to which they are connected. For example, the first set of double-joint mechanisms 4 provided on the moving platform 12 has two connecting rods 5 connected thereto. The bottom end of one of the two connecting rods 5 is connected to a slider 22 of the first group of sliding mechanisms 2, while the bottom end of the other is connected to a slider 22 of the third group of sliding mechanisms 2. Among them, the first group of sliding mechanisms 2, the second group of sliding mechanisms 2, and the third group of sliding mechanisms 2 are arranged in sequence on the circumference. This "cross-group" connection method of non-adjacent connections forms a spatially staggered support structure.

[0043] The operating principle of this six-degree-of-freedom parallel robot is to precisely control six power units through an external controller, each driving six sliders 22 to move linearly up and down along their respective track plates 21. Although the lengths of the six connecting rods 5 are fixed, the spatial posture of the six connecting rods 5 changes as the position of their bottom hinge points (sliders 22) changes, thereby collaboratively pushing or pulling the moving platform 12, achieving six degrees of freedom in three-dimensional space (i.e., translation in the X, Y, and Z directions, as well as pitch, yaw, and roll around these three axes).

[0044] In this way, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) High rigidity and high stability: a load-bearing frame is constructed by the static platform 11 and the top plate 13, providing two-end support for the track plate 21, greatly improving the rigidity of the guide rail, and reducing vibration and deformation under high-speed movement and high load; (2) Low inertia and high dynamic response: all power equipment and sliding mechanisms 2 are set on a static base, and there are only lightweight joint mechanisms on the dynamic platform 12, which effectively reduces the total inertia of the moving parts, allowing the robot to achieve higher acceleration and faster dynamic response; (3) Compact structure: the layout of the three sets of sliding mechanisms 2 fully utilizes the space, making the overall structure relatively compact.

[0045] While maintaining six degrees of freedom (DOF) motion, this embodiment further optimizes the parallel robot's mechanical structure, specifically enhancing the structural rigidity and stability of its drive chain to resist deformation caused by load and inertia, thereby fundamentally improving the overall positioning accuracy and dynamic performance of the moving platform 12. The technical solution proposed in this embodiment, through the addition of a top plate 13, enables the track plate 21 of each sliding mechanism 2 to be supported and connected between the static platform 11 and the top plate 13, forming a more rigid double-end support structure.

[0046] In a preferred embodiment, continue to refer to Figure 5 In order to achieve more precise and stronger driving of the slider 22, each set of sliding mechanisms 2 also includes a screw 23. The screw 23 is vertically arranged parallel to the track plate 21, one end of which is rotatably connected to the static platform 11 through a first bearing assembly 231, and the other end is rotatably connected to the top plate 13 through a second bearing assembly 232. The slider 22 is processed with a threaded hole (or a ball screw nut is installed) that matches the screw 23, thereby realizing threaded transmission. When the screw 23 rotates, the slider 22 will perform precise linear motion along the track plate 21. This ball screw transmission method has the advantages of high precision, low friction, and strong load-bearing capacity.

[0047] Furthermore, the power device for driving the lead screw 23 is specifically a servo motor 61. In order to optimize the spatial layout, the six servo motors 61 are all installed on the top surface of the static platform 11 and are cleverly arranged in the gap between two sets of adjacent sliding mechanisms 2. The rotating shaft of the servo motor 61 passes downward through the static platform 11 and is connected to a first toothed pulley 62 on the bottom surface of the static platform 11. At the same time, the lower end of the lead screw 23 also passes downward through the static platform 11 and is connected to a second toothed pulley 24. The corresponding pair of first toothed pulleys 62 and second toothed pulleys 24 are connected by a toothed annular belt.

[0048] Variant implementation method: The driving method can also be that the motor directly drives the screw 23 through a reducer, or a linear motor is used to directly drive the slider 22, but the combination of "motor + synchronous belt + screw" in this embodiment has comprehensive advantages in cost, maintenance convenience and layout flexibility.

[0049] Working process: The external controller sends a command, the servo motor 61 rotates, and its power is transmitted to the second toothed pulley 24 through the first toothed pulley 62 and the toothed ring belt, driving the screw 23 to rotate. The screw 23 then drives the slider 22 through the threaded pair to achieve precise up and down movement.

[0050] In this way, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) Large and stable driving torque: The servo motor 61 cooperates with the synchronous belt drive, starts smoothly, has low noise, and can easily adjust the transmission ratio by changing the gear ratio of the pulley; (2) Easy maintenance and heat dissipation: All motors 61 are centrally installed on the top surface of the static platform 11 so that they are exposed to the outside, which is convenient for wiring, debugging and replacement, and is also beneficial to the heat dissipation of the motor 61 itself.

[0051] In order to achieve integrated installation and standardized wiring of the six servo motors 61 and their drivers, the robot also includes an integrated electrical support and connection system.

[0052] Three sets of second supports 701 are fixedly mounted on the top surface of the static platform 11, in the gap between the two servo motors 61. Each set of second supports 701 is mounted on a set (i.e., two) of servo drivers 71. Each servo driver 71 is electrically connected to a nearby servo motor 61 via a cable, providing it with power and control signals.

[0053] To simplify power wiring, each second support 701 is also secured with a terminal block 72. The power cables for the two servo drives 71 in this group are connected to this terminal block 72. A power converter 73 (e.g., a switching power supply that converts AC to DC) is mounted at the center or edge of the bottom surface of the static platform 11. This power converter 73 is connected to all three terminal blocks 72 via wires, providing a centralized power supply for all six servo drives 71.

[0054] In order to protect and support the transmission mechanism (pulley, synchronous belt) and electrical components (power converter 73) at the bottom of the static platform 11, the robot is connected to a base 81 on the bottom surface of the static platform 11. Figure 2 and Figure 7 The top side of the base 81 (i.e., the side facing the static platform 11) is machined with an annular groove 811. The size and shape of this groove 811 are designed to accommodate the six first toothed pulleys 62, the six second toothed pulleys 24, and the power converter 73.

[0055] As a result, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) High integration and modularization: The electrical components such as the driver 71 and the terminal block 72 are modularly installed using the gaps between the servo motors 61, resulting in a compact structure and clear wiring. (2) Safety and aesthetics: The annular groove 811 of the base 81 conceals all transmission components and power supplies, protecting them from damage from external dust and collisions while also making the overall appearance of the robot more concise and professional.

[0056] In another preferred embodiment, continue to refer to Figure 1 To provide comprehensive protection for the robot's internal motion mechanisms and electrical components and aid heat dissipation, an annular cover 9 can be installed. This cover can be made of metal plate or engineering plastic, with its upper end connected to the edge of the top plate 13 and its lower end connected to the edge of the static platform 11, completely enclosing the three sets of sliding mechanisms 2. Multiple rows of heat dissipation holes 901 are provided on the side walls of the cover 9, directly opposite the locations of the main heat-generating components such as the servo motor 61 and servo driver 71. This utilizes natural convection or forced air cooling to enhance heat dissipation.

[0057] In another preferred embodiment, continue to refer to Figure 5In order to further improve the installation rigidity of the track plates 21, three sets of first supports 201 can be provided. Each first support 201 is a rigid member in the shape of "M", T or H, one end of which is fixed to the top surface of the static platform 11 by bolts, and the other end is fixed to the bottom surface of the top plate 13. The two track plates 21 of the same group of sliding mechanisms 2 are respectively fixed to the two sides or the same side of the first support 201. This makes the two parallel track plates 21 firmly connected as a whole, greatly enhancing the ability to resist lateral force and vibration.

[0058] In another preferred embodiment, continuing to refer to Figure 6 The specific structure of the first spherical hinge assembly 3 can be that the bottom of a first hinge seat 31 is fixed to the sliding block 22 by bolts; a spherical hinge groove is machined on the hinge seat 31, and the opening of the hinge groove is inclined with respect to the plane of the static platform 11. A first hinge ball 32 is installed in the hinge groove to form a spherical hinge. The surface of the hinge ball 32 is integrally formed or welded with a first connecting end 33 (such as an externally threaded rod or a fork with a pin hole) for connecting with the first end of the connecting rod 5. The inclined opening of the hinge groove provides a larger swing range for the connecting rod 5, avoiding motion interference in some extreme postures.

[0059] In another preferred embodiment, continuing to refer to Figure 6 The specific structure of the double-joint mechanism 4 can be that the bottom of a joint seat 41 is fixed to the moving platform 12. Two second hinge seats 42 are connected to the joint seat 41, which can be integrally formed or separately installed. The opening of the spherical hinge groove of each second hinge seat 42 is also inclined with respect to the plane of the moving platform 12. Two second hinge balls 43 are respectively installed in the two hinge grooves, and each hinge ball 43 is provided with a second connecting end 44 for connecting with the second end of two different connecting rods 5.

[0060] In summary, the various embodiments of the present embodiment achieve a six-degree-of-freedom parallel robot with high rigidity, high precision, high dynamic response and compact structure through unique structural design and optimized component layout, and have good industrial application prospects.

[0061] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment or implementation contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementations that those skilled in the art can understand.

[0062] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications, and combinations made by any person skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom parallel robot, characterized in that: include: static platform (11); Moving platform (12); A top plate (13) is located between the static platform (11) and the dynamic platform (12), and is closer to the dynamic platform (12); Three sets of sliding mechanisms (2), each set of sliding mechanisms (2) has two sets, the three sets of sliding mechanisms (2) are arranged on the static platform (11) at the same interval angle, each set of sliding mechanisms (2) includes a track plate (21) and a slider (22), the two ends of the track plate (21) are supported and connected between the static platform (11) and the top plate (13), and the slider (22) is slidably arranged on the track plate (21); wherein each slider (22) is driven by a power device; six sets of first spherical hinge assemblies (3), one set of the first spherical hinge assemblies (3) being arranged on one of the sliders (22); Three sets of double-joint mechanisms (4) are arranged on the moving platform (12) at the same interval angle, and each set of double-joint mechanisms (4) is provided with a pair of second spherical hinge components; Six connecting rods (5), each connecting rod (5) having a first end connected to a set of the first spherical hinge components (3) and a second end connected to a set of the second spherical hinge components; The first spherical hinge assembly (3) connected by the two connecting rods (5) corresponding to a set of double-joint mechanisms (4) does not belong to the same set of sliding mechanisms (2).

2. The six-degree-of-freedom parallel robot according to claim 1, characterized in that: The sliding mechanism (2) further comprises: A lead screw (23) is threadedly coupled with the slider (22), one end of the lead screw (23) being connected to the static platform (11) via a first bearing assembly (231), and the other end of the lead screw (23) being connected to the top plate (13) via a second bearing assembly (232).

3. The six-degree-of-freedom parallel robot according to claim 2, characterized in that: The power device is a servo motor (61), which is arranged on the top surface of the static platform (11), and every two servo motors (61) are arranged in the gap between two adjacent sliding mechanisms (2). The rotating shaft of the servo motor (61) extends out of the static platform (11) and is connected to a first toothed pulley (62); Furthermore, one end of the lead screw (23) extends out of the static platform (11) and is connected to a second toothed pulley (24), and the first toothed pulley (62) and the second toothed pulley (24) are connected via a toothed annular belt transmission.

4. The six-degree-of-freedom parallel robot according to claim 3, characterized in that: Also includes: three sets of second supports (701), wherein the second supports (701) are arranged on the static platform (11) and located in the gap between the two servo motors (61); There are three groups of servo drivers (71), each group of servo drivers (71) has two servo drivers (71) and both are arranged on the second support (701), and one servo driver (71) is electrically connected to one servo motor (61).

5. The six-degree-of-freedom parallel robot according to claim 4, characterized in that: Also includes: Three terminal rows (72), one terminal row (72) is connected to a second support (701), and each set of servo drivers (71) is connected to one of the terminal rows (72); A power converter (73) is provided on the bottom surface of the static platform (11) and is connected to the three terminal rows (72) to supply power to each of the servo drivers (71).

6. The six-degree-of-freedom parallel robot according to claim 5, characterized in that: Also includes: A base (81) is connected to the bottom surface of the static platform (11), and an annular groove (811) is formed on the top side thereof, wherein the annular groove (811) is configured to accommodate six first toothed pulleys (62), six second toothed pulleys (24) and a power converter (73).

7. The six-degree-of-freedom parallel robot according to claim 1, characterized in that: Also includes: The annular cover (9) has a first axial end connected to the top plate (13) and a second axial end connected to the static platform (11), and a side wall thereof is provided with multiple rows of heat dissipation holes (901) corresponding to the servo motor (61), the servo driver (71) and the sliding mechanism (2).

8. The six-degree-of-freedom parallel robot according to claim 1, characterized in that: Also includes: Three first supports (201), one end of each first support (201) is connected to the top surface of the static platform (11), and the other end is connected to the bottom surface of the top plate (13), and two track plates (21) of a set of sliding mechanisms (2) are connected to one of the first supports (201).

9. The six-degree-of-freedom parallel robot according to claim 1, characterized in that: The first spherical hinge assembly (3) comprises: a first hinge seat (31) connected to the slider (22), with the opening of the spherical hinge groove thereof being tilted relative to the static platform (11); The first hinge ball (32) is hingedly arranged in the hinge groove, and a first connecting end (33) is provided on its surface. The first connecting end (33) is connected to the first end of the connecting rod (5).

10. The six-degree-of-freedom parallel robot according to claim 1, characterized in that: The double-joint mechanism (4) comprises: A joint seat (41) is arranged on the moving platform (12); Two second hinge seats (42) connected to the joint seat (41), and the openings of the two spherical hinge grooves are arranged to be inclined relative to the moving platform (12); Two second hinge balls (43), one second hinge ball (43) is hingedly arranged in one of the hinge grooves, and a second connection end (44) is provided on its surface, and the second connection end (44) is connected to the second end of the connecting rod (5).

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