High-load embedded large-space mobile parallel composite robot

Abstract

This invention discloses a high-load embedded large-space mobile parallel composite robot, comprising a carrier body that moves with a mobile cart, a space adjustment module installed on the carrier body, and a moving platform mounted on its top. The space adjustment module includes a group of parallel branches connecting the carrier body, installed in the longitudinal space between the moving platform and the carrier body. The group of parallel branches consists of six parallel branches: a first branch, a second branch, a third branch, a fourth branch, a fifth branch, and a sixth branch. Each group of two parallel branches increases the lateral extension distance through a combination of inner and outer offsets, and together support the moving platform via circumferentially distributed connecting areas. The six parallel branches work together to drive the moving platform to achieve six degrees of freedom of movement in space. This invention increases the lateral space through the inner and outer offset driving method of the branches, enabling the moving platform to coincide with the upper surface of the mobile cart at a relatively low initial height and extreme position height, thus achieving structural embedding.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a high-load embedded large-space mobile parallel composite robot. Background Technology

[0002] Currently, with the development of major national projects in the aerospace field, large-scale equipment such as aircraft and rockets have been fully developed, and the level of research and development of large-scale equipment reflects a country's comprehensive strength. Among these, the assembly of large components is a crucial link in the development of large-scale equipment. Currently, my country mainly uses manual labor combined with brackets or hand-cranked brackets for the assembly of large components. This method suffers from poor spatial posture adjustment capabilities, extreme reliance on experience in the assembly process, and weak compatibility with multiple products. Large-scale equipment is characterized by its large size and heavy weight, requiring the center of gravity to be lowered as much as possible while ensuring load capacity. Traditional parallel robots combined with mobile robots to form mobile parallel composite robots have an excessively high center of gravity, which is detrimental to mobile assembly and difficult to apply in confined spaces. To meet the needs of efficient, rapid, and flexible assembly of large components, designing a mobile parallel composite robot that is designed for high loads, can be embedded, and has a large motion space is an effective solution.

[0003] Currently, some mobile robots can only complete movement tasks and cannot meet assembly requirements. For example, the AGV equipment in Chinese patent CN108609539B only has lifting and turning functions and cannot complete assembly tasks. In addition, some mobile assembly robots have poor rigidity. For example, the AMR equipment in Chinese patents CN217776987U and CN113858178A, although having a large end-effector range of motion, has poor rigidity in its serial structure, making it difficult to meet the needs of assembling large components. Furthermore, some six-degree-of-freedom mobile assembly robots have an excessively high center of gravity during assembly. For example, the mobile assembly robot in Chinese patent CN104802151A, due to the large size and weight of large components, and the space occupied by the mobile platform and parallel robot in series, results in an excessively high center of gravity for the entire machine, which is detrimental to mobile assembly and difficult to apply in confined spaces.

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a high-load, embedded, large-space mobile parallel composite robot with a high load-bearing capacity, embeddable structure, large adjustment range, and low center of gravity. Summary of the Invention

[0005] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide a high-load embedded large-space mobile parallel composite robot.

[0006] The technical solution of this invention is:

[0007] A high-load embedded large-space mobile parallel composite robot includes a carrier body that moves with a mobile trolley, a space adjustment module installed in the built-in space of the carrier body, and a moving platform installed on the top of the space adjustment module;

[0008] The space adjustment module includes a parallel chain assembly connecting the carrier body, which is installed in the longitudinal space between the moving platform and the carrier body;

[0009] The parallel branch group includes six parallel branches. Each group has two parallel branches. The lateral extension distance is increased by the combination of inner and outer offsets. The branches are connected by the circumferentially distributed connection areas of the moving platform to jointly support the moving platform and realize six degrees of freedom of space motion.

[0010] The parallel branch includes a driving branch and a motion branch;

[0011] The drive chain includes a first rotary joint installed in the carrier body, a first connecting rod installed at the center vertically of the rotation output part of the first rotary joint, a first prismatic joint installed in the axial direction of the first connecting rod, a second rotary joint installed on the linear output part of the first prismatic joint, a second connecting rod installed on the rotation output part of the second rotary joint, and the other end of the second connecting rod fixed to the motion chain;

[0012] The motion chain includes a triangular connecting plate connected to the other end of the second link, a third rotating joint installed at the other corner of the triangular connecting plate, and a first ball joint installed at the third corner of the triangular connecting plate;

[0013] The motion output section of the first ball joint is connected to the third link, and the other end of the third link is equipped with the second ball joint. The top of the second ball joint is connected to the ball joint mounting plate, and the ball joint mounting plate is connected to the moving platform.

[0014] Furthermore, the first prismatic joint of the drive chain performs linear telescoping motion along the axis of the first connecting rod, and drives the second connecting rod to move the triangular connecting plate through the second revolute joint. The triangular connecting plate swings relative to the third revolute joint. The first ball joint and the second ball joint drive the third connecting rod to adjust its spatial attitude and transmit the motion to the ball joint mounting plate, thereby realizing the attitude adjustment of the moving platform.

[0015] Furthermore, the parallel branch group consists of six parallel branches: the first branch, the second branch, the third branch, the fourth branch, the fifth branch, and the sixth branch. The third branch and the fourth branch form one group, the first branch and the second branch form one group, and the fifth branch and the sixth branch form one group.

[0016] Furthermore, the mobile trolley has wheels installed on both sides of its carrier body.

[0017] Furthermore, a navigation system is installed on the body of the mobile vehicle.

[0018] Furthermore, the first prismatic joint of the driving branch drives the motion branch to generate controllable motion in a manner that is offset relative to the motion branch, and the six parallel branches coordinate to adjust the moving platform in pairs to generate six degrees of freedom motion in space.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention discloses a high-load embedded large-space mobile parallel composite robot. Its spatial adjustment module has three translational degrees of freedom (X-axis translation, Y-axis translation, Z-axis translation) and three angular degrees of freedom (rotation around X-axis, Y-axis rotation, Z-axis rotation), enabling six-degree-of-freedom spatial motion of the moving platform. Furthermore, by using inner and outer offset driving methods of the branches, the lateral space utilization is increased, allowing the moving platform to coincide with the upper surface of the mobile vehicle at a relatively low initial height and extreme position height, thus achieving structural embedding.

[0021] This invention arranges six branches in pairs into three groups, and the three groups of branches form three circumferentially dispersed and symmetrically stressed connection areas with the moving platform. While taking into account the overall rigidity, workspace and low center of gravity, it improves the load-bearing capacity of the moving platform for the assembly of large components, and enables embedded large workspace assembly applications under high load. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the invention at its lowest height.

[0023] Figure 2 This is a schematic diagram of the overall structure of the machine at the working height of the present invention;

[0024] Figure 3 This is a schematic diagram of the space adjustment module of the present invention without an outer casing;

[0025] Figure 4 This is a schematic diagram of the first branch in the space adjustment module of the present invention;

[0026] Figure 5 This is a schematic diagram of the second branch in the space adjustment module of the present invention;

[0027] Figure 6 This is a schematic diagram of the parallel branch arrangement in the space adjustment module of the present invention;

[0028] in:

[0029] 1. Moving platform 2. Shell

[0030] 3. Mobile vehicle 4. Navigation system

[0031] 5. Wheels 6. Carrier body

[0032] 7. Space adjustment module 8. Power supply

[0033] 9 First revolute joint 10 First connecting rod

[0034] 11 First sliding joint 12 Second rotary joint

[0035] 13 Second Linkage 14 Drive Chain

[0036] 15 Third revolute joint 16 Triangular connecting plate

[0037] 17 First ball 18 Third link

[0038] 19 Second ball set 20 Ball set mounting plate

[0039] 21 Kinematic Branch 22 First Branch

[0040] 23 Second branch 24 Third branch

[0041] 25 Fourth branch 26 Fifth branch

[0042] 27. The sixth branch. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: Example

[0044] As attached Figure 1 To be continued Figure 6 As shown, a high-load embedded large-space mobile parallel composite robot includes a carrier body 6 that moves with a mobile trolley 3. A space adjustment module 7 is installed in the built-in space of the carrier body 6, and a moving platform 1 for spatial position adjustment output is installed on the top of the space adjustment module 7.

[0045] The space adjustment module 7 includes a parallel branch chain group that connects to the carrier body 6 and performs spatial position adjustment. The parallel branch chain group is installed in the longitudinal space between the moving platform 1 and the carrier body 6.

[0046] Specifically, the narrow longitudinal space is a concave space;

[0047] The parallel branch group consists of six parallel branches: the first branch 22, the second branch 23, the third branch 24, the fourth branch 25, the fifth branch 26, and the sixth branch 27. The third branch 24 and the fourth branch 25 form one group, the first branch 22 and the second branch 23 form one group, and the fifth branch 26 and the sixth branch 27 form one group.

[0048] Specifically, the six parallel branches are arranged in pairs, in three groups. Each group includes an inner bias branch and an outer bias branch, and each corresponds to a connection area that is dispersed around the moving platform 1.

[0049] The first branch 22, the third branch 24, and the fifth branch 26 have the same structure from the fixed side to the output side; the second branch 23, the fourth branch 25, and the sixth branch 27 have the same structure from the fixed side to the output side.

[0050] Each set of two parallel branches increases the lateral extension distance through a combination of inner and outer offsets, and together support the moving platform 1 through the circumferentially distributed connecting areas on the moving platform 1. The six parallel branches work together to drive the moving platform 1 to achieve six degrees of freedom in space.

[0051] Furthermore, in the embodiments, the parallel branches may include a driving branch 14 and a motion branch 21.

[0052] The drive chain 14 includes a first rotary joint 9 installed in the carrier body 6. A first connecting rod 10 is installed at the center vertically of the rotation output part of the first rotary joint 9. A first prismatic joint 11 is installed in the axial direction of the first connecting rod 10. A second rotary joint 12 is installed on the linear output part of the first prismatic joint 11. A second connecting rod 13 is installed on the rotation output part of the second rotary joint 12. The other end of the second connecting rod 13 is fixed to the motion chain 21.

[0053] Furthermore, in the embodiments, the motion chain 21 may include a triangular connecting plate 16 connected to the other end of the second connecting rod 13, a third rotating joint 15 is installed at the other corner of the triangular connecting plate 16, and a first ball joint 17 is installed at the third corner of the triangular connecting plate 16.

[0054] The motion output part of the first ball joint 17 is connected to the third link 18, and the other end of the third link 18 is equipped with the second ball joint 19. The top end of the second ball joint 19 is connected to the ball joint mounting plate 20, and the ball joint mounting plate 20 is connected to the moving platform 1.

[0055] Furthermore, in the embodiments, the first sliding joint 11 of the drive chain 14 can be considered to perform linear telescopic movement along the axis of the first connecting rod 10, and drive the second connecting rod 13 to drive the triangular connecting plate 16 to move through the second rotating joint 12. The triangular connecting plate 16 swings relative to the third rotating joint 15. The first ball joint 17 and the second ball joint 19 drive the third connecting rod 18 to adjust its spatial posture and transmit the motion to the ball joint mounting plate 20, thereby realizing the posture adjustment of the moving platform 1.

[0056] Specifically, the first locating joint 11 of the driving branch 14 drives the motion branch 21 to generate controllable motion in a manner that is offset relative to the motion branch 21. The six parallel branches coordinate to adjust the motion platform 1 in pairs to generate six degrees of freedom motion in space.

[0057] Furthermore, in the embodiments, it can also be considered that the second link 13 of the driving branch 14 in the first branch 22, the third branch 24, and the fifth branch 26 is arranged inside the moving branch 21, and the second link 13 of the second branch 23, the fourth branch 25, and the sixth branch 27 is arranged outside the moving branch 21, so that the branches of the same group and adjacent groups form a staggered distribution in the longitudinal space.

[0058] Furthermore, in the embodiments, it can also be considered that three sets of parallel branches form three circumferentially dispersed and symmetrically stressed connection areas on the moving platform 1. The three connection areas are arranged in an equilateral triangle, and the long side of the ball joint mounting plate 20 of each set of parallel branches forms a 120° angle with the line connecting the center of the triangle.

[0059] Furthermore, in the embodiments, it can be considered that the ball joint mounting plates 20 connected to the moving platform 1 in each group of parallel branches are arranged in a form where the long sides coincide and the short side planes coincide.

[0060] Furthermore, in the embodiments, three sets of parallel branches can be symmetrically arranged on the mounting surface of the carrier body 6, with the first set of parallel branches located in the middle of the mounting surface, and the second and third sets of parallel branches distributed on both sides.

[0061] Furthermore, in the embodiments, it can also be considered that the front surfaces of the mounting bases of the first rotating joints 9 of the two sets of parallel branches coincide, and the front surfaces of the mounting bases of the first rotating joints 9 of the two parallel branches in the same group coincide.

[0062] Furthermore, in the embodiments, it can be considered that each group of two parallel branches, through the combination of the inner and outer biases, compresses the extreme position height of the parallel branch group without increasing the longitudinal installation height, thereby better adapting to embedded installation requirements.

[0063] Furthermore, in the embodiments, the inner and outer connections can be staggered, so that the six parallel branches form three symmetrical connection areas on the moving platform 1 after being grouped in pairs, thereby improving the uniformity of force distribution, support stability and overall load-bearing capacity of the moving platform under heavy load conditions.

[0064] Specifically, the working principle is as follows:

[0065] When a single parallel chain is in operation, the first sliding joint 11 extends or retracts along the axis of the first connecting rod 10, drives the second connecting rod 13 to move through the second rotating joint 12, and pushes the triangular connecting plate 16 connected to it to swing relative to the third rotating joint 15; the first ball joint 17 set on the triangular connecting plate 16 and the second ball joint 19 set at the end of the third connecting rod 18 provide spatial orientation and attitude compensation for the third connecting rod 18, so that the motion can be transmitted to the ball joint mounting plate 20 and act on the corresponding mounting point of the moving platform 1; the six parallel chains realize the lifting, translation and rotation adjustment of the moving platform 1 through the coupling of displacement change and spatial attitude change. Each set of parallel branches consists of an inner bias branch and an outer bias branch. By utilizing the lateral expansion distance formed by the bias drive, the height of the extreme position of the parallel branch group is further compressed without increasing the longitudinal installation height, so as to meet the embedded installation requirements. At the same time, the three sets of parallel branches and the moving platform 1 form three circumferentially dispersed and symmetrically stressed connection areas, which is conducive to improving the uniformity of stress on the moving platform and the overall load-bearing capacity.

[0066] The mobile trolley 3 has wheels 5 installed on both sides of its carrier body 6.

[0067] The mobile vehicle 3 is equipped with a navigation system 4.

[0068] The technical solution of the present invention is described below with reference to the accompanying drawings, as follows:

[0069] As attached Figure 1 As shown, attached Figure 1 This is a schematic diagram of the structure of the whole machine at the lowest height of the present invention. The whole machine structure includes a shell 2 that covers the mobile trolley 3, and a moving platform 1 that can cover the upper part of the shell 2. As described above, the space adjustment module 7 can be fully embedded in the narrow space at this height.

[0070] Specifically, the mobile trolley 3, without an outer shell, includes a carrier body 6 for large-stroke movement and wheels 5 for achieving large-stroke movement. The carrier body 6 of the mobile trolley 3 provides an installation base, and wheels 5 are installed on both sides of the carrier body 6.

[0071] In one implementation, the carrier body 6 is equipped with a navigation system 4, which provides navigation and positioning information for the carrier body 6.

[0072] Specifically, the flat structure, offset driving method, and pairwise grouping of each parallel branch in the space adjustment module 7 can meet the requirements for embedding and installation in narrow spaces while also taking into account the large range of movement space and large load support requirements after extension.

[0073] like Figure 2 As shown, Figure 2This is a schematic diagram of the overall structure of the machine at the working height of the present invention. Figure 1 Based on this, the moving platform 1 is driven by the spatial adjustment module 7 to generate spatial displacement.

[0074] Specifically, the space adjustment module 7 is mounted on the mobile trolley 3 as the installation base, and is installed longitudinally on the mobile trolley 3. The space adjustment module 7 can perform small-range six-degree-of-freedom spatial position adjustment after the mobile trolley 3 has made a large stroke position adjustment.

[0075] like Figure 3 As shown, Figure 3 This is a schematic diagram of the space adjustment module structure without an outer shell according to the present invention. The space adjustment module 7 is installed in the built-in space of the carrier body 6, and the other end is connected to the moving platform 1. The mounting surface of the carrier body 6 is provided with support seats for rotating joints. Two support seats are provided for each of the first branch 22, the second branch 23, the third branch 24, the fourth branch 25, the fifth branch 26, and the sixth branch 27, corresponding to the first rotating joint 9 and the third rotating joint 15, respectively. The mounting surface of the moving platform 1 is provided with 6 mounting points, which are respectively connected to the ball joint mounting plates 20 of the six branches.

[0076] In one embodiment, the carrier body 6 is an electric vehicle, and a power source 8 located at the bottom is installed in the carrier body 6. The power source 8 provides the power basis for the long-stroke movement of the carrier body 6.

[0077] like Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of the first branch in the space adjustment module of the present invention. The parallel branch group of the space adjustment module 7 consists of six branches: the first branch 22, the second branch 23, the third branch 24, the fourth branch 25, the fifth branch 26, and the sixth branch 27. The structures of the first branch 22, the third branch 24, and the fifth branch 26 are the same from the fixed side to the output side. The structures of the second branch 23, the fourth branch 25, and the sixth branch 27 are the same from the fixed side to the output side.

[0078] Specifically, each of the three branches—the first branch 22, the third branch 24, and the fifth branch 26—includes a first revolute joint 9. The first revolute joint 9 is fixed to the mounting surface of the carrier body 6, and its axis of motion is parallel to the long side of the carrier body 6. A first connecting rod 10 is connected perpendicularly to the axis of the first revolute joint 9. The axis of the first connecting rod 10 coincides with the axis of the first prismatic joint 11, and the other end of the first connecting rod 10 is fixedly connected to the first prismatic joint 11. The first prismatic joint 11 can move linearly along the connecting rod direction. The output end of the first prismatic joint 11 is connected to a second revolute joint 12, and the axis of the second revolute joint 12 is perpendicular to the direction of movement of the first prismatic joint 11. The second connecting rod 13 acts as the rotational follower of the second revolute joint 12, and the other end of the second connecting rod 13 is connected to the triangular connecting plate 16 of the moving branch 21, realizing a rotational connection between the driving branch 14 and the moving branch 21. A third rotary joint 15 is installed at the other corner of the triangular connecting plate 16. A first ball joint 17 is installed at the third corner of the triangular connecting plate 16. The motion output part of the first ball joint 17 is connected to a third link 18. A second ball joint 19 is installed at the other end of the third link 18. The top end of the second ball joint 19 is fixed to the ball joint mounting plate 20. The ball joint mounting plate 20 is fixed to the moving platform 1.

[0079] In operation, the first prismatic joint 11 extends or retracts along the axis of the first connecting rod 10 under drive, and the second revolute joint 12 subsequently drives the second connecting rod 13 to move, causing the second connecting rod 13 to exert a pushing and pulling effect on the triangular connecting plate 16. The triangular connecting plate 16 swings relative to the supporting vehicle body 6 at the third revolute joint 15, thereby converting the linear input of the first prismatic joint 11 into spatial swing at the branch output end. At the same time, the first ball joint 17 and the second ball joint 19 provide spatial rotation compensation for the third connecting rod 18, enabling the third connecting rod 18 to adapt to the attitude changes of the moving platform 1 and avoid motion interference during force transmission. Finally, the ball joint mounting plate 20 transmits the displacement and attitude changes to the corresponding mounting point of the moving platform 1.

[0080] like Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of the second branch in the spatial adjustment module of the present invention. The structural difference between the first branch 22 and the second branch 23 lies in the connection method between the driving branch 14 and the moving branch 21. In the first branch 22, the third branch 24, and the fifth branch 26, the second connecting rod 13 of the driving branch 14 is connected to the inner side of the moving branch 21; while in the second branch 23, the fourth branch 25, and the sixth branch 27, the second connecting rod 13 is connected to the outer side of the moving branch 21.

[0081] By arranging the second connecting rods 13 of the first branch 22, the third branch 24, and the fifth branch 26 inside the moving branch 21, and arranging the second connecting rods 13 of the second branch 23, the fourth branch 25, and the sixth branch 27 outside the moving branch 21, the branches of the same group and adjacent groups can form a staggered distribution in the narrow longitudinal space. By increasing the lateral extension distance of a single branch group, the height of the extreme position of the parallel branch group can be further compressed without increasing the longitudinal installation height, thus better meeting the requirements of embedded installation. At the same time, the inner and outer connections are staggered, so that the six branches form three groups in pairs, forming three circumferentially dispersed and relatively symmetrically stressed connection areas on the moving platform 1. This is beneficial to improving the uniformity of stress, support stability, and overall load-bearing capacity of the moving platform 1 under heavy load conditions.

[0082] like Figure 6 As shown, Figure 6 This is a schematic diagram of the branch distribution of the space adjustment module under the outer shell of the present invention. The parallel branch group can be divided into three branches with the same structure. The first branch 22 and the second branch 23 are the first branch group, the third branch 24 and the fourth branch 25 are the second branch group, and the fifth branch 26 and the sixth branch 27 are the third branch group. Each of the three branch groups consists of two branches with different structures, the difference being the different layout positions of the branch groups. The first rotating joint 9 and the third rotating joint 15 of each branch group are arranged on the mounting surface of the carrier body 6, and the axis of the first sliding joint 11 of each group is parallel to the long side of the moving trolley 3.

[0083] In one implementation, three sets of support chains are symmetrically arranged on the mounting surface of the vehicle body 6. The first set of support chains is located in the middle of the mounting surface, while the second and third sets are distributed on both sides, with the front surfaces of the mounting seats of the first rotating joints 9 of the two sets coinciding. The front surfaces of the mounting seats of the first rotating joints 9 of the two chains within the same set coincide. The ball joint mounting plates 20 connecting the three sets of support chains to the moving platform 1 are arranged in an equilateral triangle. The long sides and short side planes of the ball joint mounting plates 20 of the two chains within the same set coincide. The long side direction of the ball joint mounting plates of the three sets of support chains forms a 120° angle with the line connecting them to the origin.

[0084] In one implementation, the first movable pair 11 is driven by a first servo motor. The first servo motor may include, but is not limited to, linear actuators or connections to the movable pair via a transmission belt or a coupling.

[0085] As one implementation method, wheel 5 can be, but is not limited to, a Mecanum wheel, a steering wheel, a caster wheel, or a differential wheel. When wheel 5 is a Mecanum wheel, it is driven by a direct-drive motor.

[0086] As one implementation method, the navigation system 4 may use, but is not limited to, lidar, magnetic strips, vision, QR codes, etc.

[0087] This invention discloses a high-load embedded large-space mobile parallel composite robot, which has the characteristics of six degrees of freedom of motion in space and can meet the requirements of embedded installation.

[0088] This invention combines the advantages of high overall rigidity, good flexibility, large working space, and low center of gravity, enabling large-load assembly applications in confined spaces.

Claims

1. A high-load embedded large-space mobile parallel composite robot, characterized in that: Includes a carrier body (6) that moves with the mobile trolley (3), and a space adjustment module (7) is installed in the built-in space of the carrier body (6), and a moving platform (1) is installed on the top of the space adjustment module (7). The space adjustment module (7) includes a parallel branch group connecting the carrier body (6), which is installed in the longitudinal space between the moving platform (1) and the carrier body (6); The parallel branch group includes six parallel branches. Each group of two parallel branches increases the lateral extension distance through the combination of inner and outer offsets, and together with the connecting areas that are circumferentially dispersed on the moving platform (1), the moving platform (1) is supported to achieve six degrees of freedom in space. The parallel branch includes a driving branch (14) and a motion branch (21). The drive chain (14) includes a first rotary joint (9) installed in the carrier body (6). A first connecting rod (10) is installed vertically at the center of the rotation output part of the first rotary joint (9). A first sliding joint (11) is installed in the axial direction of the first connecting rod (10). A second rotary joint (12) is installed on the linear output part of the first sliding joint (11). A second connecting rod (13) is installed on the rotation output part of the second rotary joint (12). The other end of the second connecting rod (13) is fixedly connected to the motion chain (21). The motion chain (21) includes a triangular connecting plate (16), one corner of which is fixedly connected to the other end of the second connecting rod (13), and a third rotating joint (15) is installed at the other corner of the triangular connecting plate (16). The third rotating joint (15) is arranged on the mounting surface of the carrier body (6), and a first ball joint (17) is installed at the third corner of the triangular connecting plate (16). The motion output part of the first ball joint (17) is connected to the third link (18), and the other end of the third link (18) is equipped with the second ball joint (19). The top of the second ball joint (19) is connected to the ball joint mounting plate (20), and the ball joint mounting plate (20) is connected to the moving platform (1).

2. The high-load embedded large-space mobile parallel composite robot according to claim 1, characterized in that: The first sliding joint (11) of the drive chain (14) moves linearly along the axis of the first link (10), and drives the second link (13) to drive the triangular connecting plate (16) to move through the second rotating joint (12). The triangular connecting plate (16) swings relative to the third rotating joint (15). The first ball joint (17) and the second ball joint (19) drive the third link (18) to adjust its spatial posture and transmit the motion to the ball joint mounting plate (20), thereby realizing the posture adjustment of the moving platform (1).

3. The high-load embedded large-space mobile parallel composite robot according to claim 1, characterized in that: The parallel branch group consists of six parallel branches: the first branch (22), the second branch (23), the third branch (24), the fourth branch (25), the fifth branch (26), and the sixth branch (27). The third branch (24) and the fourth branch (25) form one group, the first branch (22) and the second branch (23) form one group, and the fifth branch (26) and the sixth branch (27) form one group.

4. The high-load embedded large-space mobile parallel composite robot according to claim 1, characterized in that: The mobile trolley (3) has wheels (5) installed on both sides of its carrier body (6).

5. The high-load embedded large-space mobile parallel composite robot according to claim 1, characterized in that: The navigation system (4) is arranged on the body of the mobile trolley (3).

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