Six-degree-of-freedom parallel robot

Abstract

The six-degree-of-freedom parallel robot comprises a platform frame and a motor drive control system, the platform frame comprises a base, a working platform and six threaded telescopic rods, each threaded telescopic rod comprises an outer sleeve rod and an inner rod which are coaxially connected in a threaded mode, and one end of each threaded telescopic rod is connected with the base through a first spherical hinge structure; the other end of each threaded telescopic rod is connected with the working platform through a second spherical hinge structure, the motor driving control system comprises six driving motors, the six driving motors correspond to the six threaded telescopic rods one to one, and the six driving motors are all controlled by a driver and a controller. The motor driving control system is arranged outside the frame, the length of the threaded telescopic rod is not occupied, the telescopic amplitude of the threaded telescopic rod is remarkably increased, and therefore the motion amplitude of the parallel robot is enlarged, in addition, the motor driving control system does not need to be customized and only needs to use an existing product, the technology is more mature, cost is lower, precision is higher, and popularization is easy. Popularization and application are facilitated.

Description

Technical Field

[0001] This invention belongs to the field of parallel robot technology, specifically relating to a six-degree-of-freedom parallel robot. Background Technology

[0002] Parallel robots consist of a base, a working platform, and six cross-arranged telescopic connecting rods. The extension or retraction of these rods is achieved through motors, hydraulics, or pneumatics. Adjusting the length of these rods allows for six degrees of freedom motion of the working platform. Existing parallel robots have the following drawbacks: 1. Large size, heavy weight, and high manufacturing costs: Regardless of whether driven by motors, hydraulics, or pneumatics, the telescopic rods themselves are heavy and bulky, making them unusable in certain scenarios. 2. Small extension range of the telescopic rods, resulting in limited movement amplitude in parallel robots. This is a disadvantage compared to serial robots. Hydraulic or pneumatic telescopic connecting rods require hydraulic or pneumatic chambers, which occupy the length of the rods, limiting their extension range. 3. Customized telescopic rods: Compared to mature products, this not only increases manufacturing and maintenance costs but also requires consideration of size, weight, rigidity, precision, thrust, speed, movement amplitude, and control, making it impossible to achieve all aspects perfectly and necessitating compromises in certain areas. Therefore, there is a need for a six-degree-of-freedom parallel robot that is small in size, light in weight, high in precision, has a large range of motion, and is low in cost. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a six-degree-of-freedom parallel robot that addresses the shortcomings of the prior art. The robot has a simple structure and reasonable design. It achieves six-degree-of-freedom motion by using six threaded telescopic rods to drive the working platform. The drive motor does not occupy the length of the threaded telescopic rods, which helps to increase the extension range of the threaded telescopic rods, thereby expanding the motion range of the parallel robot and facilitating its widespread application.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a six-degree-of-freedom parallel robot, characterized in that: it includes a platform frame and a motor drive control system for driving the platform frame to achieve six-degree-of-freedom motion. The platform frame includes a base, a working platform, and six threaded telescopic rods disposed between the base and the working platform. Each threaded telescopic rod includes an outer rod and an inner rod coaxially threaded together. One end of each threaded telescopic rod is connected to the base via a first ball joint structure, and the other end of each threaded telescopic rod is connected to the working platform via a second ball joint structure. The motor drive control system includes six drive motors, each of which corresponds one-to-one with one of the six threaded telescopic rods. Each of the six drive motors is controlled by a driver and a controller.

[0005] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: three sets of first mounting seats for mounting the first ball joint structure are installed at equal intervals in the circumferential direction of the base, and three sets of second mounting seats for mounting the second ball joint structure are installed at equal intervals in the circumferential direction of the working platform.

[0006] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the first ball joint structure includes a limiting ball head, a cross-shaped hinge ball hinged in the limiting ball head, and a T-shaped drive rod hinged on the cross-shaped hinge ball. The T-shaped drive rod includes a first connecting rod segment and a drive rod segment arranged vertically, and a drive shaft mounting hole is provided on the end face of the drive rod segment.

[0007] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the first ball joint mounting groove includes a first spherical groove that cooperates with the limiting ball head and a drive rod segment mounting hole that communicates with the first spherical groove and cooperates with the drive rod segment.

[0008] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the second ball joint structure includes a limiting ball head, a cross-shaped hinge ball hinged in the limiting ball head, and a T-shaped limiting rod hinged on the cross-shaped hinge ball. The T-shaped limiting rod includes a second connecting rod segment arranged vertically and a limiting rod segment for being engaged in the limiting groove.

[0009] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the second ball joint mounting groove includes a second spherical groove that cooperates with the limiting ball head and a limiting groove that communicates with the second spherical groove.

[0010] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: a spherical groove is provided on the limiting ball head, a first pin is provided on the cross-hinged ball, the cross-hinged ball is hinged in the spherical groove through the first pin, a second pin is provided on both the first connecting rod segment and the second connecting rod segment, a rotating groove is provided on the cross-hinged ball, and the first connecting rod segment or the second connecting rod segment is hinged in the rotating groove through the second pin.

[0011] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: each group of first mounting seats or each group of second mounting seats can be an independent mounting seat or a combined mounting seat; both the first mounting seat and the second mounting seat can be a left-right split structure or an up-down split structure; the first mounting seat that is split and fastened together has a first mounting cavity for mounting the first ball joint structure; and the second mounting seat that is split and fastened together has a second mounting cavity for mounting the second ball joint structure.

[0012] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the first ball joint structure includes a first hinge ball head and a drive joint disposed on the first hinge ball head, and the first ball joint mounting groove includes a first hemispherical groove that cooperates with the first hinge ball head and two first frustum-shaped grooves that are rotationally symmetrically arranged and communicate with the first hemispherical groove.

[0013] The above-mentioned six-degree-of-freedom parallel robot is characterized in that: the second ball joint structure includes a second hinge ball head, the second hinge ball head is provided with a limit pin, and the second ball joint mounting groove includes a second hemispherical groove that cooperates with the second hinge ball head, a second frustum-shaped groove that communicates with the second hemispherical groove, and two symmetrically arranged fan-shaped grooves that communicate with the second hemispherical groove.

[0014] Compared with the prior art, the present invention has the following advantages: 1. This invention employs six threaded telescopic rods, each consisting of an outer rod and an inner rod connected coaxially by threads. In actual use, the threaded telescopic rods are driven by a drive motor located at the bottom end of the rods. During use, the drive motor does not occupy the length of the threaded telescopic rods. When the drive motor rotates the inner rod, extending or retracting along the length of the outer rod, the maximum extension length of the inner rod along the outer rod determines the maximum range of motion of the work platform. The length of the threaded telescopic rods is fully and rationally utilized without being occupied or wasted.

[0015] 2. In this invention, one end of the threaded telescopic rod is connected to the base via a first ball joint structure, and the other end of the threaded telescopic rod is connected to the working platform via a second ball joint structure. The threaded telescopic rod includes an outer rod and an inner rod. When one end of the inner rod is connected to the base via the first ball joint structure, and one end of the outer rod is connected to the working platform via the second ball joint structure, in actual use, the inner rod is driven by a drive motor, i.e., the drive motor is connected to the first ball joint structure, and power is transmitted to the inner rod through the first ball joint structure. When the inner rod rotates, the outer rod cannot rotate simultaneously with the inner rod. The second ball joint structure has the function of restricting the rotation of the outer rod around the axis of the inner rod. At the same time, the second ball joint structure does not restrict the six degrees of freedom motion of the working platform. Therefore, under the combined action of the first ball joint structure and the second ball joint structure, the six degrees of freedom motion of the working platform can be guaranteed. This solves the problem that the universal joint connection structure at both ends of the telescopic rod of the existing six-degree-of-freedom platform can only play a universal connection role, so that the free extension and retraction of the telescopic rod can be adapted to the connection of the working platform and can realize the function of transmitting torque.

[0016] 3. The installation directions of the inner rod and outer rod of the present invention can be reversed, that is, the length of the threaded telescopic rod can also be adjusted by rotating the outer rod and restricting the inner rod. The first ball joint structure and the second ball joint structure are ingenious, with accurate transmission direction, high precision, and wide applicability.

[0017] 4. The threaded telescopic rod of the present invention has a simple structure, reasonable design, strong load-bearing capacity, low manufacturing cost, and is easy to promote and apply.

[0018] In summary, this invention has a simple structure and reasonable design. By using six threaded telescopic rods to drive the working platform, it achieves six degrees of freedom of motion. The drive motor does not occupy the length of the threaded telescopic rods, which is beneficial to improving the extension and retraction range of the threaded telescopic rods, thereby expanding the motion range of the parallel robot. It has high extension and retraction accuracy, good stability, and is easy to promote and apply.

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention.

[0021] Figure 2 This is a schematic diagram of the platform framework in Embodiment 1 of the present invention.

[0022] Figure 3 This is a schematic diagram of the connection process between the platform framework and multiple drive motors in Embodiment 1 of the present invention.

[0023] Figure 4 This is a schematic diagram of the platform frame structure after the first and second mounting seats are removed in Embodiment 1 of the present invention.

[0024] Figure 5 This is an exploded structural diagram of the first ball joint structure in Embodiment 1 of the present invention.

[0025] Figure 6 This is a schematic diagram of the connection structure between the first ball joint structure and the base in Embodiment 1 of the present invention.

[0026] Figure 7 This is an exploded structural diagram of the second ball joint structure in Embodiment 1 of the present invention.

[0027] Figure 8 This is a schematic diagram of the connection structure between the second ball joint structure and the working platform in Embodiment 1 of the present invention.

[0028] Figure 9 This is a schematic diagram of the connection structure of the base, the first mounting base and the inner rod in Embodiment 1 of the present invention.

[0029] Figure 10This is a schematic diagram of the platform frame structure after removing the first and second mounting bases in Embodiment 2 of the present invention.

[0030] Figure 11 This is a schematic diagram of the connection structure between the first ball joint structure and the base in Embodiment 2 of the present invention.

[0031] Figure 12 This is a schematic diagram of the connection structure between the second ball joint structure and the working platform in Embodiment 2 of the present invention.

[0032] Explanation of reference numerals in the attached figures: 1—Base; 1-1—First mounting base; 2—Working platform; 2-1—Second mounting base; 3-1—Outer rod; 3-2—Inner rod; 4—Drive motor; 5—Limit ball head; 5-1—Spherical groove; 6—Cross-shaped hinge ball; 6-1—Rotating groove; 7-1—First connecting rod segment; 7-2—Drive rod segment; 7-2-1—Drive shaft mounting hole; 8-1—Second connecting rod segment; 8-2—Limiting rod segment; 8-2-1—Limiting plane; 9—Fixing hole; 10—Mounting hole; 11-1—First spherical groove; 11-2—Drive rod segment mounting hole; 12-1—Second spherical groove; 12-2—Limiting groove; 13—Box body; 13-1—Partition plate; 14—First pin; 15—Second pin; 16—First articulated ball joint; 17—Drive joint; 18—Second articulated ball joint; 18-1—Limiting pin; 19-1—First hemispherical groove; 19-2—First frustum-shaped groove; 20-1—First hemispherical groove; 20-2—Second frustum-shaped groove; 20-3—Fan-shaped groove. Detailed Implementation

[0033] The technical solution of the present invention will be described in detail through Embodiments 1 and 2: Example 1 like Figure 1 , Figure 2 and Figure 3As shown, the present invention includes a platform frame and a motor drive control system for driving the platform frame to achieve six degrees of freedom motion. The platform frame includes a base 1, a working platform 2, and six threaded telescopic rods disposed between the base 1 and the working platform 2. Each threaded telescopic rod includes an outer rod 3-1 and an inner rod 3-2 connected coaxially by threads. One end of each threaded telescopic rod is connected to the base 1 via a first ball joint structure, and the other end of each threaded telescopic rod is connected to the working platform 2 via a second ball joint structure. The motor drive control system includes six drive motors 4, each of which corresponds one-to-one with one of the six threaded telescopic rods. Each of the six drive motors 4 is controlled by a driver and a controller.

[0034] In this embodiment, six threaded telescopic rods are used, and each threaded telescopic rod includes an outer rod 3-1 and an inner rod 3-2 connected by coaxial threads. In actual use, the threaded telescopic rods are driven by a drive motor 4, which is located at the bottom end of the threaded telescopic rods. In actual use, the drive motor 4 does not occupy the length of the threaded telescopic rods. When the drive motor 4 drives the inner rod 3-2 to rotate and extend or retract along the length direction of the outer rod 3-1, the maximum extension length of the inner rod 3-2 along the outer rod 3-1 can determine the maximum movement range of the working platform 2. The length of the threaded telescopic rods is fully and reasonably utilized without being occupied or wasted, and the telescopic accuracy is high and the stability is good.

[0035] In this embodiment, the base 1 is fixedly installed on the box 13, and the box 13 is provided with a partition 13-1. Six drive motors 4 are fixedly installed on the partition 13-1, which has a stable structure and strong load-bearing capacity.

[0036] In this embodiment, one end of the threaded telescopic rod is connected to the base 1 via a first ball joint structure, and the other end of the threaded telescopic rod is connected to the working platform 2 via a second ball joint structure. In actual use, when one end of the inner rod 3-2 is connected to the base 1 via the first ball joint structure, and one end of the outer rod 3-1 is connected to the working platform 2 via the second ball joint structure, the inner rod 3-2 is driven by the drive motor 4, that is, the drive motor 4 is connected to the first ball joint structure, and transmits power to the inner rod 3-2 through the first ball joint structure. When the inner rod 3-2 rotates, the outer rod 3-1 cannot... The phenomenon of simultaneous rotation with the inner rod 3-2 occurs. The second ball joint structure restricts the rotation of the outer rod 3-1 around the axis of the inner rod 3-2. At the same time, the second ball joint structure does not restrict the six degrees of freedom of the working platform 2. Therefore, under the combined action of the first and second ball joint structures, the six degrees of freedom of the working platform 2 can be guaranteed. This solves the problem that the universal joint connection structure at both ends of the telescopic rod of the existing six-degree-of-freedom platform can only play a universal connection role. It enables the free extension and retraction of the telescopic rod to adapt to the connection of the working platform 2 and realize the function of transmitting torque.

[0037] In this embodiment, the installation directions of the inner rod 3-2 and the outer rod 3-1 can be reversed. That is, the length of the threaded telescopic rod can also be adjusted by rotating the outer rod 3-1 and restricting the inner rod 3-2.

[0038] In this embodiment, the base 1 is provided with three sets of first mounting seats 1-1 at equal intervals in the circumferential direction for mounting the first ball joint structure, and the working platform 2 is provided with three sets of second mounting seats 2-1 at equal intervals in the circumferential direction for mounting the second ball joint structure.

[0039] In this embodiment, the base 1 is connected to the housing 13 by fastening bolts. The base 1 has a fixing hole 9 through which the fastening bolts pass, and the working platform 2 has a mounting hole 10 for connecting external equipment.

[0040] like Figure 5 As shown, in this embodiment, the first ball joint structure includes a limiting ball head 5, a cross-shaped hinge ball 6 hinged in the limiting ball head 5, and a T-shaped drive rod hinged on the cross-shaped hinge ball 6. The T-shaped drive rod includes a first connecting rod segment 7-1 and a drive rod segment 7-2 arranged vertically. A drive shaft mounting hole 7-2-1 is provided on the end face of the drive rod segment 7-2.

[0041] like Figure 6 As shown, in this embodiment, the first ball joint mounting groove includes a first spherical groove 11-1 that cooperates with the limiting ball head 5 and a drive rod segment mounting hole 11-2 that communicates with the first spherical groove 11-1 and cooperates with the drive rod segment 7-2.

[0042] like Figure 7 As shown, in this embodiment, the second ball joint structure includes a limiting ball head 5, a cross-shaped hinge ball 6 hinged in the limiting ball head 5, and a T-shaped limiting rod hinged on the cross-shaped hinge ball 6. The T-shaped limiting rod includes a second connecting rod segment 8-1 arranged vertically and a limiting rod segment 8-2 for engaging in the limiting groove 12-2.

[0043] like Figure 8 As shown, in this embodiment, the second ball joint mounting groove includes a second spherical groove 12-1 that cooperates with the limiting ball head 5 and a limiting groove 12-2 that communicates with the second spherical groove 12-1.

[0044] like Figure 5 and Figure 7As shown, in this embodiment, the limiting ball head 5 is provided with a spherical groove 5-1, the cross-hinged ball 6 is provided with a first pin 14, the cross-hinged ball 6 is hinged to the spherical groove 5-1 through the first pin 14, the first connecting rod segment 7-1 and the second connecting rod segment 8-1 are both provided with a second pin 15, the cross-hinged ball 6 is provided with a rotating groove 6-1, the first connecting rod segment 7-1 or the second connecting rod segment 8-1 is hinged to the rotating groove 6-1 through the second pin 15.

[0045] In this embodiment, each group of first mounting base 1-1 or each group of second mounting base 2-1 can be an independent mounting base or a combined mounting base. Both the first mounting base 1-1 and the second mounting base 2-1 can be left-right split structures or top-bottom split structures. The first mounting base 1-1, which is split and fastened together, has a first mounting cavity for mounting the first ball joint structure. The second mounting base 2-1, which is split and fastened together, has a second mounting cavity for mounting the second ball joint structure.

[0046] like Figures 2 to 4 As shown, each group of the first mounting base 1-1 forms a combined mounting base, and the combined mounting base has a left and right split structure.

[0047] like Figure 9 As shown, the first mounting base 1-1 is an independent mounting base, and the first mounting base 1-1 has an upper and lower split structure.

[0048] In actual use, the inner rod 3-2 of the threaded telescopic rod can also be a screw or lead screw of various thread types, while the outer rod 3-1 is an inner threaded outer rod that cooperates with the screw or lead screw.

[0049] like Figures 4 to 7As shown, in actual use, in the first and second ball joint structures, the axis of the first pin 14 intersects perpendicularly with the axis of the second pin 15. The point of perpendicular intersection of the first pin 14 and the second pin 15 coincides with the center of the limiting ball head 5. Therefore, in the first hinge structure, the cross-hinged ball 6 and the T-shaped drive rod 7 together form a transmission structure. When the output shaft of the drive motor 4 is fitted into the drive shaft mounting hole 7-2-1, and the drive motor 4 drives the drive rod segment 7-2 to rotate, the second pin 15 can drive the cross-hinged ball 6 to rotate. The cross-hinged ball 6 can drive the limiting ball head 5 to rotate in the first spherical groove 11-1. The limiting ball head 5 can drive the inner rod 3-2 to rotate around the axis of the inner rod 3-2. -1 provides sufficient space for the deflection of the second pin 15 and the drive rod segment 7-2. The first spherical groove 11-1 provides sufficient space for the deflection of the limiting ball head 5 and the inner rod 3-2, ensuring the flexible rotation of the inner rod 3-2. In the second hinge structure, the cross-hinged ball 6 and the T-shaped limiting rod together form an anti-rotation structure. Through the snap-fit ​​connection between the limiting rod segment 8-2 and the limiting groove 12-2, under the transmission action of the cross-hinged ball 6 and the first pin 14, the limiting ball head 5 can be restricted from driving the outer rod 3-1 to rotate around the axis of the outer rod 3-1. However, it does not completely restrict the planar deflection of the outer rod 3-1. Therefore, it can be ensured that the outer rod 3-1 will not rotate simultaneously with the rotation of the inner rod 3-2.

[0050] Example 2 like Figure 10 and Figure 11 As shown, unlike Embodiment 1, in this embodiment, the first ball joint structure includes a first hinge ball head 16 and a drive connector 17 disposed on the first hinge ball head 16. The first ball joint mounting groove includes a first hemispherical groove 19-1 that cooperates with the first hinge ball head 16 and two first frustum-shaped grooves 19-2 that are arranged symmetrically and communicate with the first hemispherical groove 19-1.

[0051] In this embodiment, the center of the first hinge ball head 16 is located on the axis of the inner rod 3-2, and the axis of the drive joint 17 coincides with the axis of the inner rod 3-2. In actual use, the first hinge ball head 16 is engaged with the spherical surface of the first hemispherical groove 19-1. The two rotationally symmetrically arranged first frustum-shaped grooves 19-2 provide sufficient space for the rotation of the inner rod 3-2 and the rotation of the drive joint 17, respectively. When the drive joint 17 is connected to the drive motor 4, the drive motor 4 can drive the drive joint 17, the first hinge ball head 16 and the inner rod 3-2 to rotate simultaneously along the axis of the inner rod 3-2, thereby achieving the purpose of adjusting the length of the threaded telescopic rod. The inner rod 3-2 can rotate around the first hinge ball head 16, thereby pushing the work platform 2 to deflect. By simultaneously controlling the extension length and deflection angle of the six threaded telescopic rods, the work platform 2 can achieve six degrees of freedom of motion.

[0052] like Figure 10 and Figure 12 As shown, in this embodiment, the second ball joint structure includes a second hinge ball head 18, a limiting pin 18-1 is provided on the second hinge ball head 18, and the second ball joint mounting groove includes a second hemispherical groove 20-1 that cooperates with the second hinge ball head 18, a second frustum-shaped groove 20-2 that communicates with the second hemispherical groove 20-1, and two symmetrically arranged fan-shaped grooves 20-3 that communicate with the second hemispherical groove 20-1.

[0053] In actual use, there are two limit pins 18-1. The two limit pins 18-1 are coaxially arranged on the left and right sides of the second hinge ball head 18. The second hinge ball head 18 is fitted into the second hemispherical groove 20-1. The two limit pins 18-1 are respectively locked in the two fan-shaped grooves 20-3. The fan-shaped grooves 20-3 provide sufficient space for the deflection of the limit pins 18-1, thus providing sufficient space for the deflection of the outer rod 3-1. At the same time, when driving the inner rod 3-2 to rotate, it can restrict the rotation of the outer rod 3-1 and prevent the outer rod 3-1 from rotating with the inner rod 3-2.

[0054] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A six-degree-of-freedom parallel robot, characterized in that: The system includes a platform frame and a motor drive control system for driving the platform frame to achieve six degrees of freedom motion. The platform frame includes a base (1), a working platform (2), and six threaded telescopic rods disposed between the base (1) and the working platform (2). Each threaded telescopic rod includes an outer rod (3-1) and an inner rod (3-2) connected by coaxial threads. One end of each threaded telescopic rod is connected to the base (1) through a first ball joint structure, and the other end of each threaded telescopic rod is connected to the working platform (2) through a second ball joint structure. The motor drive control system includes six drive motors (4), each of which corresponds to one of the six threaded telescopic rods. Each of the six drive motors (4) is controlled by a driver and a controller.

2. A six-degree-of-freedom parallel robot according to claim 1, characterized in that: The base (1) has three sets of first mounting seats (1-1) installed at equal intervals in the circumferential direction for mounting the first ball joint structure, and the working platform (2) has three sets of second mounting seats (2-1) installed at equal intervals in the circumferential direction for mounting the second ball joint structure.

3. A six-degree-of-freedom parallel robot according to claim 2, characterized in that: The first ball joint structure includes a limiting ball head (5), a cross-shaped hinge ball (6) hinged in the limiting ball head (5), and a T-shaped drive rod hinged on the cross-shaped hinge ball (6). The T-shaped drive rod includes a first connecting rod segment (7-1) and a drive rod segment (7-2) arranged vertically. A drive shaft mounting hole (7-2-1) is provided on the end face of the drive rod segment (7-2).

4. A six-degree-of-freedom parallel robot according to claim 3, characterized in that: The first ball joint mounting groove includes a first spherical groove (11-1) that mates with the limiting ball head (5) and a drive rod segment mounting hole (11-2) that communicates with the first spherical groove (11-1) and mates with the drive rod segment (7-2).

5. A six-degree-of-freedom parallel robot according to claim 2, characterized in that: The second ball joint structure includes a limiting ball head (5), a cross-shaped hinge ball (6) hinged in the limiting ball head (5), and a T-shaped limiting rod hinged on the cross-shaped hinge ball (6). The T-shaped limiting rod includes a second connecting rod segment (8-1) arranged vertically and a limiting rod segment (8-2) for being fitted into the limiting groove (12-2).

6. A six-degree-of-freedom parallel robot according to claim 5, characterized in that: The second ball joint mounting groove includes a second spherical groove (12-1) that mates with the limiting ball head (5) and a limiting groove (12-2) that communicates with the second spherical groove (12-1).

7. A six-degree-of-freedom parallel robot according to claim 4 or 6, characterized in that: The limiting ball head (5) is provided with a spherical groove (5-1), and the cross-hinged ball (6) is provided with a first pin (14). The cross-hinged ball (6) is hinged in the spherical groove (5-1) through the first pin (14). The first connecting rod segment (7-1) and the second connecting rod segment (8-1) are both provided with a second pin (15). The cross-hinged ball (6) is provided with a rotating groove (6-1). The first connecting rod segment (7-1) or the second connecting rod segment (8-1) is hinged in the rotating groove (6-1) through the second pin (15).

8. A six-degree-of-freedom parallel robot according to claim 2, characterized in that: Each first mounting base (1-1) or each second mounting base (2-1) can be an independent mounting base or a combined mounting base. Both the first mounting base (1-1) and the second mounting base (2-1) can be left-right split structures or top-bottom split structures. The first mounting base (1-1) that is split and fastened together has a first mounting cavity for mounting the first ball joint structure, and the second mounting base (2-1) that is split and fastened together has a second mounting cavity for mounting the second ball joint structure.

9. A six-degree-of-freedom parallel robot according to claim 2, characterized in that: The first ball joint structure includes a first hinge ball head (16) and a drive joint (17) disposed on the first hinge ball head (16). The first ball joint mounting groove includes a first hemispherical groove (19-1) that cooperates with the first hinge ball head (16) and two first frustum-shaped grooves (19-2) that are arranged symmetrically and communicate with the first hemispherical groove (19-1).

10. A six-degree-of-freedom parallel robot according to claim 9, characterized in that: The second ball joint structure includes a second hinge ball head (18), a limit pin (18-1) is provided on the second hinge ball head (18), and the second ball joint mounting groove includes a second hemispherical groove (20-1) that cooperates with the second hinge ball head (18), a second frustum-shaped groove (20-2) that communicates with the second hemispherical groove (20-1), and two symmetrically arranged fan-shaped grooves (20-3) that communicate with the second hemispherical groove (20-1).

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