Parallel mechanical arm controller structure adopting four parallel connecting rods

Abstract

The utility model discloses a parallel mechanical arm controller structure adopting four parallel connecting rods, and relates to the technical field of controllers, a static platform base serves as a rack, and a driving structure and a parallel four-connecting-rod mechanism serving as a transmission structure are sequentially installed between the static platform base and a movable platform. Three groups of driving structures and transmission structures are arranged in parallel in one-to-one correspondence; the fixed ends of the driving structures and the static platform base are installed and fixed, the output ends of the driving structures output swing located in the vertical plane of the static platform base, and the vertical plane where the output swing of the three driving structures is located is evenly distributed in the circumferential direction. According to the utility model, the three groups of driving structures arranged in parallel and the parallel four-bar mechanism used as the transmission structure are arranged, and the three groups of driving structures and the transmission structure jointly bear a load and cooperatively act, so that the overall stability and the motion precision of the controller structure are improved; and high-precision and rapid movement in a relatively large range can be completed in a relatively small working space, and the robot is particularly suitable for application scenes with limited space.

Description

TECHNICAL FIELD

[0001] The utility model relates to controller technical field, concretely relates to a controller mechanical structure for controlling mechanical arm. BACKGROUND

[0002] The mechanical arm controller is a device for operating a mechanical arm. In the prior art, early mechanical arm controllers rely on rigid structures and traditional motor drive systems. With technological progress, the structure of the mechanical arm controller has gradually developed towards high degrees of freedom and high precision.

[0003] Through prior art retrieval, the following known technical solutions exist:

[0004] Prior art 1:

[0005] Application number: CN118208466A, application date: April 10, 2024, publication (announcement) date: June 18, 2024, the prior art provides a hydraulic engineering machine controller, including a single-arm or double-arm control framework, the framework structure of the single-arm or double-arm control framework corresponds to the mechanical arm structure of the hydraulic engineering machine; a contact is arranged at each framework adjacent to the joint of the control framework, a reversing switch is arranged on the framework adjacent to the contact, and a control handle is arranged at the end of the control framework; an electromagnetic valve group is used to replace the hand control valve on the hydraulic engineering machine; the operator holds the control handle, drives the control framework through the movement of the human arm, the movement of the control framework simultaneously drives the movement of multiple reversing switches, and the movement of the reversing switches corresponds to the movement of the electromagnetic valve group, thereby real-time controlling the linkage of each oil cylinder on the hydraulic engineering machine. The present invention adopts open-loop control, and the structure and manufacturing process are simpler and the cost is lower; it is simple and flexible to operate, easy to use, can adapt to people with different arm lengths and operation habits, as well as single-handedly disabled people; and can realize transverse operation of the working head.

[0006] Prior art 1 adopts a series structure, although it performs well in various applications, but has poor anti-interference ability, and when facing high-precision or high-speed operation, there are often problems of insufficient precision, insufficient rigidity and slow dynamic response, which cannot meet the operation requirements of higher efficiency and higher precision.

[0007] Through the above retrieval, it is found that the above technical solutions do not affect the novelty of the utility model. UTILITY MODEL CONTENTS

[0008] The utility model is just to avoid the shortcomings of the prior art, and provides a parallel four-bar linkage parallel mechanical arm controller structure.

[0009] The utility model discloses a parallel connection mechanical arm controller structure adopting parallel four-bar linkage, and the static platform base is used as the frame, and the driving structure and the transmission structure are installed between the static platform base and the movable platform in proper order, and three groups of the driving structure and the transmission structure are correspondingly arranged in parallel,

[0010] The three groups of driving structure and transmission structure are arranged in parallel to bear the load together, reduce the stress of single driving structure and transmission structure, improve the overall stability of the controller structure, and the three groups of driving structure and transmission structure improve the motion accuracy of the controller structure through cooperative action; in addition, the three groups of driving structure and transmission structure are arranged in parallel to enable the controller structure to complete relatively large range motion in smaller working space, so that the controller structure is better adapted to the application scene with limited space,

[0011] The fixed end of the driving structure is fixedly installed on the static platform base, and the output end outputs swing in the vertical plane of the static platform base, and the vertical planes where the three driving structures output swing are evenly distributed in the circumferential direction;

[0012] The transmission structure is a parallel four-bar linkage mechanism,

[0013] The parallel four-bar linkage mechanism has high motion and transmission stability;

[0014] In the parallel four-bar linkage mechanism, any one of a pair of opposite sides is used as the input end of the transmission structure and is rotatably connected with the output end of the driving structure, and the other is used as the output end of the transmission structure and is rotatably connected with the movable platform;

[0015] The swing shaft of the output end of the driving structure, the rotation shaft between the input end of the transmission structure and the output end of the driving structure, and the rotation shaft between the output end of the transmission structure and the movable platform are arranged in parallel.

[0016] Further, the parallel four-bar linkage mechanism includes a first link, a second link, a third link and a fourth link;

[0017] The first link, the second link, the third link and the fourth link are rotatably connected in sequence to form a closed parallelogram structure, and a rotation shaft perpendicular to the plane of the parallelogram structure is formed at the connecting point;

[0018] Bearings and other accessories should be reasonably arranged between each rotation pair to improve the speed and accuracy of the controller structure when changing the posture;

[0019] The first connecting rod is connected with the output end of the driving structure as the input end of the transmission structure, and the third connecting rod is connected with the movable platform as the output end of the transmission structure.

[0020] Further, the connecting sleeve and the limiting sleeve are further included.

[0021] The first connecting rod and the third connecting rod are sleeved with the connecting sleeve, which is rotatably connected with the first connecting rod or the third connecting rod through the bearing and is fixedly connected with the output end of the driving structure or the movable platform.

[0022] The first connecting rod and the third connecting rod are respectively sleeved with the limiting sleeve on both sides of the connecting sleeve, which is used for limiting the axial direction of the connecting sleeve.

[0023] Further, the driving structure includes a driving machine and an actuating arm.

[0024] The fixed end of the driving machine is fixed to the static platform base as the fixed end of the driving structure, and the output end is connected with the front end of the actuating arm through the shaft, so as to drive the actuating arm to rotate; and the end of the actuating arm is rotatably connected with the input end of the transmission structure as the output end of the driving structure.

[0025] In actual arrangement, the driving machine is preferably a servo motor, and the actuating arm is preferably made of glass fiber material.

[0026] Further, the end angle sensing structure is further included.

[0027] The end angle sensing structure provides three rotation freedoms of the rotation shaft in the spatial perpendicular direction, and respectively collects the angles of rotation in the three rotation freedoms.

[0028] Further, the end angle sensing structure includes three sensing arms and three angle sensors.

[0029] Any one of the three sensing arms is a first sensing arm, another is a second sensing arm, and the remaining one is a third sensing arm, and the three angle sensors are respectively a first angle sensor, a second angle sensor and a third angle sensor.

[0030] The first sensing arm, the second sensing arm and the third sensing arm are rotatably connected with the movable platform, the first sensing arm and the second sensing arm, and the second sensing arm and the third sensing arm through the first angle sensor, the second angle sensor and the third angle sensor, respectively, to form three rotation pairs of the rotation shaft in the spatial perpendicular direction.

[0031] Further, the stator end of the primary angle sensor, the secondary angle sensor and the tertiary angle sensor is fixedly installed with the movable platform, the primary sensing arm and the secondary sensing arm respectively, and the rotor end is fixedly installed with the primary sensing arm, the secondary sensing arm and the tertiary sensing arm respectively.

[0032] In actual arrangement, the primary sensing arm, the secondary sensing arm and the tertiary sensing arm are preferably made of glass fiber material.

[0033] Further, the tertiary sensing arm is fixedly provided with a handheld module.

[0034] The operator can conveniently hold and operate.

[0035] Further, the positioning frame is further provided.

[0036] The positioning frame is arranged opposite to the initial position of the movable platform, is fixedly installed on the static platform base, and has a hollow columnar structure protruding towards the movable platform.

[0037] The end of the positioning frame towards the movable platform is provided with a protruding clamping block, and the back of the movable platform is provided with a clamping groove, and the clamping block can be clamped into the clamping groove.

[0038] When the controller structure is in a non-working state, the clamping block and the clamping groove are clamped, the positioning frame bears the support and positioning function of each driving structure and the transmission structure, maintains the static posture of the controller structure, reduces the structural load of the controller structure in the non-working state, and prolongs the service life of the controller structure.

[0039] In actual arrangement, the positioning frame is preferably 3D printed.

[0040] Further, the battery unit and the mounting unit are further provided.

[0041] The battery unit is electrically connected with each driving structure to supply power to each driving structure.

[0042] The driving structure is arranged one by one with the mounting unit and is connected with the static platform base through the mounting unit.

[0043] The battery unit is dispersedly arranged with each mounting unit.

[0044] In actual arrangement, the battery unit and the mounting unit are preferably arranged on two sides of the static platform base respectively, which is helpful to reasonable distribution of the space in the controller structure, improves compactness and stability of the controller structure; the dispersed arrangement of the battery unit and the mounting unit is also helpful to heat dissipation of the battery unit, avoids heat concentration, reduces the risk of overheating, and at the same time facilitates dismounting and replacement of the battery unit, reduces the difficulty and time consumption of maintenance of the battery unit, and improves the overall maintainability of the controller structure; in addition, the setting posture of the battery unit should be as large as possible to expand the area of the heat dissipation surface, so as to further improve the heat dissipation of the battery unit.

[0045] The parallel four-bar linkage parallel mechanical arm controller structure has the following beneficial effects:

[0046] 1、The parallel four-bar linkage parallel mechanical arm controller structure has the following beneficial effects:

[0047] 2、The parallel four-bar linkage parallel mechanical arm controller structure has the following beneficial effects:

[0048] 3、The parallel four-bar linkage parallel mechanical arm controller structure has the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0049] Fig. 1 Fig. 1 is a structural schematic view of the parallel four-bar linkage parallel mechanical arm controller structure of the utility model;

[0050] Fig. 2 Fig. 3 is a structural schematic view of the end angle sensing structure of the utility model;

[0051] Fig. 3 Fig. 4 is a structural schematic view of a six-axis mechanical arm in embodiment 1 of the utility model.

[0052] In the drawings:

[0053] 1, static platform base, 11, battery unit, 12, installation unit; 2, transmission structure, 21, first connecting rod, 22, second connecting rod, 23, third connecting rod, 24, fourth connecting rod, 25, connecting sleeve, 26, limiting sleeve; 3, moving platform; 4, end angle sensing structure, 41, first sensing arm, 42, second sensing arm, 43, third sensing arm, 44, first angle sensor, 45, second angle sensor, 46, third angle sensor, 47, handheld module; 5, actuator arm; 6, drive machine; 7, positioning frame, 71, clamping groove;

[0054] a, primary actuator, b, secondary actuator, c, tertiary actuator, d, clamping jaw. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0056] A parallel four-bar linkage parallel robot controller structure, as shown in Figs. 1-2 The static platform base 1 serves as a rack, three servo motors are circumferentially distributed, the fixed end of the servo motor is fixedly installed on the static platform base 1, and the output end is connected with the front end shaft of the actuator arm 5 made of glass fiber material, so that the actuator arm 5 is driven to swing in the vertical plane of the static platform base 1.

[0057] Each actuator arm 5 is installed and connected with a four-bar linkage mechanism, the parallel four-bar linkage mechanism includes a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a fourth connecting rod 24, a connecting sleeve 25 and a limiting sleeve 26, the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the fourth connecting rod 24 are sequentially rotatably installed and connected to form a closed parallelogram structure, and a rotating pair with the rotating shaft perpendicular to the plane of the parallelogram structure is formed at the connecting point; the first connecting rod 21 and the third connecting rod 23 are provided with the connecting sleeve 25, the connecting sleeve 25 is rotatably installed and connected with the first connecting rod 21 or the third connecting rod 23 through a bearing, and the end of the actuator arm 5 or

[0058] Or the moving platform 3 is fixedly connected; the first connecting rod 21 and the third connecting rod 23 are respectively provided with the limiting sleeve 26 on the two sides of the connecting sleeve 25, which is used for limiting the axial position of the connecting sleeve 25; the swing shaft of the actuator arm 5, the rotating shaft between the first connecting rod 21 and the actuator arm 5, and the rotating shaft between the third connecting rod 23 and the moving platform 3 are arranged in parallel.

[0059] Preferably, the terminal angle sensing structure 4 is further included; the terminal angle sensing structure 4 includes three sensing arms made of glass fiber material and three angle sensors, any one of the three sensing arms serves as a primary sensing arm 41, another serves as a secondary sensing arm 42, and the rest serves as a tertiary sensing arm 43, and the three angle sensors correspondingly serve as a primary angle sensor 44, a secondary angle sensor 45, and a tertiary angle sensor 46, respectively; the primary sensing arm 41, the secondary sensing arm 42, and the tertiary sensing arm 43 are respectively installed and connected to the dynamic platform 3, the primary sensing arm 41, and the secondary sensing arm 42 through the primary angle sensor 44, the secondary angle sensor 45, and the tertiary angle sensor 46 in a step-by-step rotating manner, forming three rotating pairs with the rotation axes being perpendicular to each other in space; the stator ends of the primary angle sensor 44, the secondary angle sensor 45, and the tertiary angle sensor 46 are respectively fixedly installed to the dynamic platform 3, the primary sensing arm 41, and the secondary sensing arm 42, and the rotor ends are respectively fixedly installed to the primary sensing arm 41, the secondary sensing arm 42, and the tertiary sensing arm 43; a handheld module 47 is fixedly arranged on the tertiary sensing arm 43, which is convenient for the operator to hold and operate.

[0060] Preferably, the 3D-printed positioning frame 7 is further included; the positioning frame 7 is arranged opposite to the initial position of the dynamic platform 3 and is fixedly installed to the static platform base 1, and has a hollow columnar structure protruding towards the dynamic platform 3; a protruding clamping block is arranged at the end of the positioning frame 7 facing the dynamic platform 3, and a clamping groove 71 is arranged on the back of the dynamic platform 3, and the clamping block can be clamped into the clamping groove 71.

[0061] When the controller structure is in a non-working state, the clamping block is clamped into the clamping groove 71, and the positioning frame 7 bears the support and positioning functions of the driving structure and the transmission structure, and maintains the static posture of the controller structure, so as to reduce the structural load of the controller structure in the non-working state and prolong the service life of the controller structure.

[0062] Preferably, the battery unit 11 and the mounting unit 12 are further included; the battery unit 11 and the mounting unit 12 are arranged on both sides of the static platform base 1, respectively, which is helpful for the reasonable distribution of the space in the controller structure and improves the compactness and stability of the controller structure.

[0063] The battery unit 11 is electrically connected with the servo motors to supply power to the servo motors; each servo motor is correspondingly arranged with the mounting unit 12 and is installed and connected with the static platform base 1 through the mounting unit 12; the battery unit 11 and the mounting unit 12 are dispersedly arranged, which is beneficial for heat dissipation of the battery unit 11, avoids heat concentration, reduces the risk of overheating, and is also convenient for disassembly and replacement of the battery unit 11, reduces the difficulty and time-consuming of maintenance of the battery unit 11, and improves the overall maintainability of the controller structure; in addition, the setting posture of the battery unit 11 should try to expand the area of its heat dissipation surface to further improve the heat dissipation performance of the battery unit 11.

[0064] Before operating the six-axis robot arm using the above controller structure, the motion mapping relationship between the execution end of the six-axis robot arm and the controller structure needs to be established according to actual needs, for example, the motion mapping relationship is to make the execution end follow the handheld module 47 to move in the same direction or rotate. For specific control methods, please refer to “Research and Implementation of Six-DOF Parallel Platform Control” (Gu Qiuxiang. Research and Implementation of Six-DOF Parallel Platform Control [D]. University of Electronic Science and Technology, 2022. DOI: 10.27005 / d.cnki.gdzku.2022.005041). Among them, the controller of the robot arm maps and controls the movement of the execution end according to the output angle information fed back by the three driving machines 6, taking the moving platform 3 as the mapping reference, and finally determines the position of the execution end; the controller of the robot arm maps and controls the attitude of the execution end according to the angle information fed back by the three angle sensors, taking the handheld module 47 as the mapping reference, and finally determines the orientation of the execution end.

[0065] Embodiment 1

[0066] Taking the bolt assembly using the six-axis robot arm in the industry as an example, the working mode of the above controller structure is explained, wherein the bolt to be grabbed is initially kept in a posture with the bolt head facing upwards:

[0067] As shown in Fig. 3 The three actuators at the end of the six-axis robot arm are respectively a first actuator a, a second actuator b, and a third actuator c, and the corresponding end angle sensing structure 4 is arranged in a step-by-step lapping structure:

[0068] Firstly, place the controller structure on a flat surface, confirm that the mechanical components of the controller structure are in normal state, then start the controller structure, and confirm that the electronic components of the controller structure are in normal state.

[0069] Secondly, establish the motion mapping relationship between the gripper d at the execution end of the six-axis robot arm and the controller structure, so that the gripper d and the moving platform 3 of the controller structure keep the same moving direction, and the first actuator a, the second actuator b, and the third actuator c keep the same direction of rotation with the first sensing arm 41, the second sensing arm 42, and the third sensing arm 43 respectively;

[0070] Thirdly, the operator faces the handheld module 47, applies force to the handheld module 47 according to the position of the bolt to be grabbed, drives the moving platform 3 to translate, makes the gripper d translate in the same direction as the moving platform 3, and moves the gripper d in the third step until the bolt head enters the opening of the gripper d, then controls the opening of the gripper d to close and clamps the bolt head to grab the bolt;

[0071] Fourthly, the operator controls the opening of the gripper d to open, and controls the gripper d to move in the third step until the bolt head enters the opening of the gripper d, then controls the opening of the gripper d to close and clamps the bolt head to grab the bolt;

[0072] The fifth step, the operator controls the jaw d to move close to the bolt hole according to the position of the bolt hole to be installed the bolt in the third step;

[0073] Subsequently, according to the actual needs, the posture of the jaw d is adjusted, the first sensor arm 41, the second sensor arm 42 and / or the third sensor arm 43 are driven to rotate by applying force to the handheld module 47, the first actuator a, the second actuator b and / or the third actuator c are driven to rotate in the same direction, the axis of the bolt body is parallel to the axis of the bolt hole, and then the jaw d is controlled to move according to the third step, and the tail end of the bolt body is sent into the bolt hole.

[0074] The sixth step, the opening of the jaw d is controlled to open, and then the six-axis robot arm is controlled to reset or proceed to the next work.

[0075] It should be noted that the relationship terms such as first and second in the present text are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0076] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parallel manipulator controller structure with a parallel four-bar linkage, a static platform base (1) as a frame, a driving structure and a transmission structure (2) sequentially installed between the static platform base (1) and a moving platform (3), characterized in that: The driving structure and the transmission structure are provided in parallel in one-to-one correspondence in three groups; The fixed end of the driving structure is fixedly installed on the static platform base (1), and the output end outputs oscillation in the vertical plane of the static platform base (1), and the vertical planes in which the three driving structures output oscillation are evenly distributed in the circumferential direction; The transmission structure is a parallel four-bar mechanism, in which, any one of a pair of opposite sides serves as the input end of the transmission structure and is rotatably connected with the output end of the driving structure, and the other serves as the output end of the transmission structure and is rotatably connected with the dynamic platform (3). The swing shaft of the output end of the driving structure, the rotation shaft between the input end of the transmission structure and the output end of the driving structure, and the rotation shaft between the output end of the transmission structure and the dynamic platform (3) are arranged in parallel.

2. The parallel manipulator controller structure employing a parallel four-bar link according to claim 1, characterized by: The parallel four-bar mechanism comprises a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), and a fourth connecting rod (24); The first connecting rod (21), the second connecting rod (22), the third connecting rod (23), and the fourth connecting rod (24) are rotatably connected in sequence to form a closed parallelogram structure, and a rotation pair with a rotation shaft perpendicular to the plane of the parallelogram structure is formed at the connecting point; The first connecting rod (21) serves as the input end of the transmission structure and is rotatably connected with the output end of the driving structure, and the third connecting rod (23) serves as the output end of the transmission structure and is rotatably connected with the dynamic platform (3).

3. The parallel manipulator controller structure employing a parallel four-bar link according to claim 2, wherein: It also comprises a connecting sleeve (25) and a limiting sleeve (26); The first connecting rod (21) and the third connecting rod (23) are sleeved with the connecting sleeve (25), the connecting sleeve (25) is rotatably connected with the first connecting rod (21) or the third connecting rod (23) through a bearing, and is fixedly connected with the output end of the driving structure or the dynamic platform (3); The limiting sleeve (26) is fixedly sleeved on the first connecting rod (21) and the third connecting rod (23) on both sides of the connecting sleeve (25) for axial limiting of the connecting sleeve (25).

4. The parallel manipulator controller structure employing a parallel four-bar link according to claim 1, wherein: The driving structure comprises a driving machine (6) and an actuating arm (5); The fixed end of the driving machine (6) serves as the fixed end of the driving structure and is fixedly installed on the static platform base (1), the output end is connected with the front end shaft of the actuating arm (5) to output the rotation of the actuating arm (5) for driving the actuating arm (5) to oscillate, and the end of the actuating arm (5) serves as the output end of the driving structure and is rotatably connected with the input end of the transmission structure (2).

5. The parallel manipulator arm controller structure employing a parallel four-bar linkage according to claim 1, wherein: It also comprises an end angle sensing structure (4); The end angle sensing structure (4) provides three rotation degrees of freedom with the rotation shafts being perpendicular to each other in space, and the angles of rotation in the three rotation degrees of freedom are collected respectively.

6. The parallel manipulator controller structure employing a parallel four-bar link according to claim 5, wherein: The end angle sensing structure (4) comprises three sensing arms and three angle sensors; Any one of the three sensing arms is a first sensing arm (41), another is a second sensing arm (42), and the rest is a third sensing arm (43), and the three angle sensors are respectively a first angle sensor (44), a second angle sensor (45) and a third angle sensor (46); The first sensing arm (41) and the moving platform (3), the second sensing arm (42) and the first sensing arm (41), and the third sensing arm (43) and the second sensing arm (42) are respectively installed and connected in series through the first angle sensor (44), the second angle sensor (45) and the third angle sensor (46), forming three rotating pairs with their rotating shafts vertically spaced.

7. The parallel manipulator controller structure employing a parallel four-bar link according to claim 6, wherein: The stator end of the first angle sensor (44), the second angle sensor (45) and the third angle sensor (46) is respectively installed and fixed with the moving platform (3), the first sensing arm (41) and the second sensing arm (42), and the rotor end is respectively installed and fixed with the first sensing arm (41), the second sensing arm (42) and the third sensing arm (43).

8. The parallel manipulator controller structure employing a parallel four-bar link according to claim 6 or 7, characterized by: The third sensing arm (43) is provided with a handheld module (47).

9. The parallel manipulator arm controller structure employing a parallel four-bar linkage according to claim 4, wherein: It also includes a positioning frame (7); The positioning frame (7) is arranged opposite to the initial position of the moving platform (3) and is installed and fixed on the static platform base (1) in a hollow columnar structure protruding towards the moving platform (3); The end of the positioning frame (7) towards the moving platform (3) is provided with a protruding clamping block, and the back of the moving platform (3) is provided with a clamping groove (71), and the clamping block can be clamped into the clamping groove (71).

10. The parallel manipulator arm controller structure employing a parallel four-bar linkage according to claim 1, wherein: It also includes a battery unit (11) and an installation unit (12); The battery unit (11) is electrically connected with each driving structure and supplies power to each driving structure; The driving structure is one-to-one corresponding to the installation unit (12) and is installed and connected with the static platform base (1) through the installation unit (12); The battery unit (11) and each installation unit (12) are dispersedly arranged.

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