Six-degree-of-freedom parallel robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a six-degree-of-freedom parallel robot. The six-degree-of-freedom parallel robot comprises a static platform (1), a first double-joint assembly (2), a movable platform (3), a second double-joint assembly (4) and six linear actuators (5). The movable platform (3) is connected with the static platform (1) through six parallel and independent motion branch chains to form a robot with a closed-loop motion chain. According to the six-degree-of-freedom parallel robot, through coordinated change of the six linear actuators (5), the complete space movement capacity of the movable platform (3) in a three-dimensional space relative to the static platform (1) can be achieved, namely translation in the X / Y / Z directions and deflection around the X, Y and Z coordinate axes can be achieved, and therefore the six-degree-of-freedom movement capacity is obtained. Meanwhile, flexible connection and load sharing of the movable platform (3) and the linear actuator (5) are achieved, and the mechanism has the advantages of being simple in connection structure and high in stability.

Description

Technical Field

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

[0002] With the continuous development of fields such as industrial automation, precision assembly, medical surgery, and bionic control, six-degree-of-freedom parallel robots are widely used in the construction of high-performance work platforms due to their advantages such as high rigidity, high precision, and compact structure.

[0003] Most existing six-DOF parallel robots (such as the Stewart platform) employ a three-pair branch structure, with each pair of branches consisting of two linear actuators (such as electric cylinders) connected to multi-DOF joints. The moving platform achieves six-DOF movement and attitude adjustment in space through the coordinated action of these six branches. However, ensuring connection stability leads to a complex connection structure.

[0004] There is an urgent need for a six-degree-of-freedom parallel robot system with a simple connection structure and high stability to meet the requirements of modern industry and scientific research for high dynamic response and precision operation. Utility Model Content

[0005] In view of this, this utility model proposes a six-degree-of-freedom parallel robot with a simple connection structure and high stability.

[0006] In the six-DOF parallel robot provided by this utility model, the six-DOF parallel robot includes a static platform, a moving platform, and six linear actuators. The static platform has three first double-joint assemblies connected around it, and the three first double-joint assemblies are distributed on a first circle at equal angular intervals. The moving platform has three second double-joint assemblies connected around it, and the three second double-joint assemblies are distributed on a second circle at equal angular intervals; wherein the diameter of the second circle is smaller than that of the first circle. Furthermore, in the six linear actuators, the bottom ends of every two linear actuators are connected to the same first double-joint assembly, and the top ends of these two linear actuators are respectively connected to one of the two adjacent second double-joint assemblies.

[0007] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the first dual-joint assembly includes a first joint seat and two sets of first joint connectors. The first joint seat is provided with two parallel first mounting holes. One end of one set of first joint connectors is connected to one of the first mounting holes, and the other end is connected to the bottom end of a linear actuator.

[0008] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the first joint connector includes a first joint bearing, a first connecting rod, a first connecting shaft, and a first double-ear ring seat. A first connecting rod is disposed on the radial outer wall of the first joint bearing, and the first connecting rod is disposed in a first mounting hole via a first pair of bearings. The first connecting shaft passes through and is connected to the shaft hole of the first joint bearing, and the first connecting shaft is perpendicular to the first connecting rod. The first double-ear ring seat includes a connecting plate and two first ear ring portions disposed on the side of the connecting plate. The two ends of the first connecting shaft are respectively connected to the two first ear ring portions via a second pair of bearings, and the gap between the two first ear ring portions allows the first connecting rod to pass through. The connecting plate is configured to connect to the bottom end of a linear actuator.

[0009] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the second dual-joint assembly includes a second joint seat and two sets of second joint connectors. The second joint seat is provided with two parallel second mounting holes that are inclined relative to the moving platform. One end of one set of second joint connectors is connected to one of the second mounting holes, and the other end is connected to the top of a linear actuator.

[0010] In a preferred embodiment of the six-DOF parallel robot provided by this utility model, the second joint connector includes a second joint bearing, a second connecting rod, a second connecting shaft, a second double-ear ring seat, and a stepped shaft. A second connecting rod is disposed on the radial outer wall of the second joint bearing, and the second connecting rod is disposed in a second mounting hole via a third pair of bearings. The second connecting shaft is connected to the shaft hole of the second joint bearing via a fourth pair of bearings, and the second connecting shaft is perpendicular to the second connecting rod. The second double-ear ring seat includes a connecting cylinder and two second ear ring portions disposed on the connecting cylinder. The two ends of the second connecting shaft are respectively supported by one of the two second ear ring portions, and the gap between the two second ear ring portions allows the second connecting rod to pass through. The connecting plate is configured to connect to the bottom end of a linear actuator. The small-diameter section of the stepped shaft is connected to the connecting cylinder via a fifth pair of bearings, and its large-diameter section forms a connecting hole suitable for connection to the top end of the linear actuator.

[0011] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the linear actuator is either a servo electric cylinder or a linear actuator.

[0012] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the six-degree-of-freedom parallel robot further includes a control module, which is disposed in the center of the static platform and is signal-connected to the six linear actuators.

[0013] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the control module includes a housing, six actuators, a controller, a power converter, and a power switch. The six actuators are disposed inside the housing, and each actuator is signal-connected to one of the linear actuators. The controller is disposed inside the housing and is signal-connected to the six actuators. The power converter is disposed inside the housing and is electrically connected to the six linear actuators, the six actuators, and the controller. The power switch is disposed on the housing and configured to control the on / off state of the power converter.

[0014] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the control module further includes a fan, which is disposed at the top of the housing, and the top of the housing has an air outlet corresponding to the fan. The outer peripheral wall of the housing is provided with multiple air inlets, each air inlet facing at least one of the drivers or at least one power converter.

[0015] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the static platform and the moving platform are circular or triangular; or, the bottom surface of the static platform is provided with multiple omnidirectional wheels.

[0016] The beneficial technical effects of this invention are as follows: This six-DOF parallel robot includes a static platform, a first double-joint assembly, a moving platform, a second double-joint assembly, and six linear actuators. The moving platform is connected to the static platform through six parallel, independent kinematic chains, forming a closed-loop kinematic chain robot. Through the coordinated changes of the six linear actuators, the six-DOF parallel robot can achieve complete spatial motion capability of the moving platform relative to the static platform in three-dimensional space, namely translation in the X / Y / Z directions and deflection around the X, Y, and Z axes, thus obtaining six-DOF motion capability. Simultaneously, the first and second double-joint assemblies are distributed at equal intervals, achieving flexible connection and load distribution between the moving platform and the linear actuators. Furthermore, each of the first and second double-joint assemblies is connected to two linear actuators, offering advantages such as simple connection structure and high stability. Attached Figure Description

[0017] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can more clearly understand the above and other features and advantages of the present invention, in which:

[0018] Figure 1 This is a schematic diagram of the first embodiment of the six-degree-of-freedom parallel robot in this example.

[0019] Figure 2This is a schematic diagram of the second implementation of the six-degree-of-freedom parallel robot in this embodiment.

[0020] Figure 3 This is an exploded structural diagram of the first dual-joint assembly of the six-DOF parallel robot in this embodiment.

[0021] Figure 4 This is an exploded view of the second dual-joint assembly of the six-DOF parallel robot in this embodiment.

[0022] Figure 5 This is a schematic diagram of the first structure of the control module of the six-degree-of-freedom parallel robot in this embodiment.

[0023] Figure 6 This is a schematic diagram of the second structure of the control module of the six-degree-of-freedom parallel robot in this embodiment.

[0024] The reference numerals in the attached figures are as follows:

[0025] 1-Static platform;

[0026] 2-First double-joint assembly; 21-First joint seat; 211-First mounting hole; 22-First joint connector; 221-First joint bearing; 222-First connecting rod; 223-First connecting shaft; 224-First double earring seat; 2241-Connecting plate; 2242-First earring portion; 225-First pair of bearings; 226-Second pair of bearings;

[0027] 3-Motion platform;

[0028] 4-Second double joint assembly; 41-Second joint seat; 411-Second mounting hole; 42-Second joint connector; 421-Second joint bearing; 422-Second connecting rod; 423-Second connecting shaft; 424-Second double earring seat; 4241-Connecting cylinder; 4242-Second earring part; 4243-Stepped shaft; 425-Third pair of bearings; 426-Fourth pair of bearings; 427-Fifth pair of bearings;

[0029] 5-Linear actuator;

[0030] 6-Control module; 61-Housing; 62-Driver; 63-Controller; 64-Power converter; 65-Fan; 66-Air inlet;

[0031] 7-Swivel wheels. Detailed Implementation

[0032] To make the objectives, technical solutions and advantages of this utility model clearer, the following embodiments are provided to further illustrate this utility model in detail.

[0033] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] like Figure 1 and Figure 2 The illustrated six-DOF parallel robot includes a static platform 1, a first dual-joint assembly 2, a moving platform 3, a second dual-joint assembly 4, and six linear actuators 5. For example, the static platform 1 and the moving platform 3 can be configured as follows: Figure 1 The shape shown is circular, such as Figure 1 In this configuration, the stationary platform is a large disk, and the moving platform is a small disk. Alternatively, stationary platform 1 and moving platform 3 can also be configured as follows: Figure 2 The shapes shown are triangular, allowing for flexible selection based on the application scenario. Both the static platform 1 and the dynamic platform 3 can be made of aluminum alloy, offering high rigidity and lightweight properties.

[0035] Linear actuator 5 preferably uses a servo electric cylinder, but a ball screw linear actuator can be optionally used as an alternative. The drive method is closed-loop servo control, with a displacement accuracy better than 0.1mm and a response time <20ms, meeting the requirements for high-frequency, high-speed action. Upon receiving a control signal, linear actuator 5 extends or retracts its linear slide bar, thereby driving the connected moving platform 3. Each linear actuator 5 uses an encoder to provide position feedback, achieving synchronous control. The interface of linear actuator 5 communicates with the control module 6 via signal lines, enabling independent control and synchronized movement.

[0036] The stationary platform 1 is surrounded by three first double-joint components 2, which are distributed at equal angular intervals on a first circle, i.e., at 120° intervals at the three vertices of an equilateral triangle. Similarly, the moving platform 3 is surrounded by three second double-joint components 4, which are distributed at equal angular intervals on a second circle, i.e., at 120° intervals at the three vertices of an equilateral triangle. The diameter of the second circle is smaller than that of the first circle. This structural design achieves flexible connection and load distribution between the moving platform 3 and the linear actuator 5.

[0037] In the six linear actuators 5, the bottom ends of every two linear actuators 5 are connected to the same first double-joint assembly 2, and the top ends of these two linear actuators 5 are respectively connected to one of the two adjacent second double-joint assemblies 4. This structure forms six branches, each of which is extendable, thereby coordinating to drive the motion platform 3 to achieve six degrees of freedom of motion.

[0038] In the above embodiment, the moving platform 3 is connected to the stationary platform 1 through six parallel, independent kinematic chains, forming a robot with a closed-loop kinematic chain. The six-DOF parallel robot, through the coordinated changes of the six linear actuators 5, can achieve complete spatial motion capability of the moving platform 3 relative to the stationary platform 1 in three-dimensional space, namely translation in the X / Y / Z directions and deflection around the X, Y, and Z axes, thus obtaining six-DOF motion capability. Simultaneously, the first double-joint assembly 2 and the second double-joint assembly 4 are distributed at equal intervals, achieving flexible connection and load distribution between the moving platform and the linear actuators. Furthermore, both the first double-joint assembly 2 and the second double-joint assembly 4 are connected to two linear actuators 5, offering advantages such as simple connection structure and high stability.

[0039] The six-DOF parallel robot can be used for: 1. Simulating various flight attitudes of an aircraft, such as takeoff, landing, turbulence, and sharp turns, by installing a cockpit on the moving platform 3, providing pilots with an extremely realistic training environment. 2. A high-end driving simulator, used not only for racing driver training but also for subjective evaluation and data collection of vehicle handling, stability, and ride comfort during the R&D phase. 3. As a six-DOF platform drive under the motion seats in 4D / 5D cinemas, it can synchronously generate pitch, sway, and rise / fall movements according to the movie plot, bringing the audience an immersive experience. 4. In the field of civil engineering, it can be used to simulate seismic waves of different magnitudes and types to test the seismic performance of building models and structures.

[0040] In addition, refer to Figure 2 The bottom surface of the static platform 1 can also be equipped with multiple casters 7 to facilitate the movement of the six-degree-of-freedom parallel robot. For example, 3-4 casters 7 can be arranged at the bottom of the static platform 1 for short-distance manual movement or workstation debugging, improving the overall mobility of the machine.

[0041] In a preferred embodiment of the six-degree-of-freedom parallel robot described above, as provided in this example, refer to... Figure 1 , Figure 2 and Figure 3The first dual-joint assembly 2 includes a first joint seat 21 and two sets of first joint connectors 22. The first joint seat 21 can be a milled aluminum alloy part. The first joint seat 21 is provided with two parallel first mounting holes 211. One end of a set of first joint connectors 22 is connected to a first mounting hole 211, and the other end is connected to the bottom end of a linear actuator 5.

[0042] In a preferred embodiment of the six-degree-of-freedom parallel robot provided in this example, refer to... Figure 1 , Figure 2 and Figure 3 The first joint connector 22 includes a first joint bearing 221, a first connecting rod 222, a first connecting shaft 223, and a first double-ear seat 224. The first joint bearing 221 has a first connecting rod 222 disposed on its radial outer wall. The first connecting rod 222 is disposed in a first mounting hole 211 via a first pair of bearings 225, thereby achieving rotational freedom in a first direction.

[0043] The first connecting shaft 223 passes through the shaft hole of the first joint bearing 221 and is perpendicular to the first connecting rod 222. The first double-eared seat 224 includes a connecting plate 2241 and two first eared portions 2242 with their sides disposed on the connecting plate 2241. The two ends of the first connecting shaft 223 are respectively connected to the two first eared portions 2242 by a second pair of bearings 226, and the gap between the two first eared portions 2242 allows the first connecting rod 222 to pass through. The connecting plate 2241 is configured to be connected to the bottom end of a linear actuator 5. For example, the connecting plate 2241 can be rigidly fixed to the base of the linear actuator 5 by screws.

[0044] In the above embodiments, the working process and technical effects of the first double joint assembly 2 are as follows: the structure allows the bottom of the linear actuator 5 to rotate in two orthogonal directions, adapting to the posture changes generated during the movement of the moving platform 3, preventing movement jamming and structural deformation under stress, ensuring reliable motion freedom and structural stability, and avoiding branch interference or rigid damage caused by the posture changes of the moving platform 3, thereby improving motion smoothness and system durability.

[0045] In a preferred embodiment of the six-degree-of-freedom parallel robot described above, as provided in this example, refer to... Figure 1 , Figure 2 and Figure 4 The second double joint assembly 4 includes a second joint seat 41 and two sets of second joint connectors 42. The second joint seat 41 is provided with two parallel second mounting holes 411 that are inclined relative to the moving platform 3. One end of one set of second joint connectors 42 is connected to a second mounting hole 411, and the other end is connected to the top of a linear actuator 5.

[0046] In a preferred embodiment of the six-degree-of-freedom parallel robot provided in this example, refer to... Figure 1 , Figure 2 and Figure 4 The second joint connector 42 includes a second joint bearing 421, a second connecting rod 422, a second connecting shaft 423, a second double-ear seat 424, and a stepped shaft 4243. The second joint bearing 421 has a second connecting rod 422 mounted on its radial outer wall, and the second connecting rod 422 is disposed in a second mounting hole 411 via a third pair of bearings 425. The second connecting shaft 423 is connected to the shaft hole of the second joint bearing 421 via a fourth pair of bearings 426, and the second connecting shaft 423 is perpendicular to the second connecting rod 422.

[0047] The second double-eared seat 424 includes a connecting cylinder 4241 and two second eared portions 4242 disposed on the connecting cylinder 4241. Both ends of the second connecting shaft 423 are respectively passed through and supported in one of the two second eared portions 4242, and the gap between the two second eared portions 4242 allows the second connecting rod 422 to pass through. Furthermore, the small-diameter section of the stepped shaft 4243 is connected to the connecting cylinder 4241 via a fifth pair of bearings 427, and its large-diameter section forms a connecting hole suitable for connection with the top end of the linear actuator 5. For example, the connecting hole in the large-diameter section of the stepped shaft 4243 is a threaded hole, threadedly connected to the top end of the linear actuator 5.

[0048] In the above embodiments, the working process and technical effects of the second double-joint assembly 4 are as follows: This structure allows the top of the linear actuator 5 to rotate in three orthogonal directions, adapting to the attitude changes generated during the movement of the moving platform 3, preventing motion jamming and structural deformation under stress, and ensuring reliable motion freedom and structural stability. Simultaneously, the second double-joint assembly 4 not only buffers the angular errors caused by the attitude changes of the moving platform 3, but also achieves a more compact connection through the stepped shaft 4243 design, improving rigidity and durability. The inclined mounting hole 411 design is beneficial to the overall spatial distribution of the linear actuator 5, reducing interference.

[0049] In a preferred embodiment of the six-degree-of-freedom parallel robot provided in this example, the six-degree-of-freedom parallel robot further includes a control module 6, which is located in the center of the static platform 1 and is signal-connected to the six linear actuators 5.

[0050] In a preferred embodiment of the six-degree-of-freedom parallel robot described in this example, the control module 6 includes a housing 61, six actuators 62, a controller 63, a power converter 64, and a power switch. For example, the housing 61 can be made of plastic or aluminum alloy, providing good heat dissipation.

[0051] Six actuators 62 are housed inside the housing 61, each actuator 62 being signal-connected to a corresponding linear actuator 5. A controller 63 is also housed inside the housing 61 and signal-connected to the six actuators 62. The controller 63 can be an STM32 main control chip or an industrial control board, performing trajectory planning and motion calculation. A power converter 64 is housed inside the housing 61 and electrically connected to the six linear actuators 5, the six actuators 62, and the controller 63. For example, the power converter 64 is a 220V to 24V / 48V converter. A power switch is located on the housing 61 and is configured to control the on / off state of the power converter 64, facilitating the start-up and power-off management of the six-degree-of-freedom parallel robot.

[0052] Control Process Description: The controller 63 calculates the target positions of the six linear actuators 5 based on external PC or host computer commands and feedback corrections from sensors on the linear actuators 5. The controller then sends PWM or CAN signals via the driver 62 to control the six linear actuators 5. The entire control loop is completed within 20ms, exhibiting high response efficiency and achieving precise synchronous linkage. Furthermore, the six-degree-of-freedom parallel robot internally handles motion control, power management, and communication linkage, simplifying external wiring.

[0053] In a preferred embodiment of the six-degree-of-freedom parallel robot provided in this example, combined with... Figure 5 and Figure 6 The control module 6 also includes a fan 65, which is located at the top of the housing 61, and the top of the housing 61 has an air outlet corresponding to the fan 65. The outer peripheral wall of the housing 61 has multiple air inlets 66, forming a hot air convection path to effectively prevent overheating and failure of electronic components. Each air inlet 66 is directly opposite at least one driver 62 or at least one power converter 64. High-heat-generating components such as the driver 62 / power converter 64 are located in the airflow area, improving operational stability.

[0054] For example, control module 6 is roughly triangular in shape. Figure 5 In this configuration, every two drivers 62 are placed at one corner of the triangular housing 61, the power converter 64 is placed near one side of the triangular housing 61, and the controller 63 is placed at the bottom of the triangular housing 61. For example, in... Figure 6 In the case, a pair of power converters 64 are placed at one corner of the triangular housing 61, two pairs of drivers 62 are placed at the other two corners of the triangular housing 61, and two additional drivers 62 are placed near the two sides of the triangular housing 61.

[0055] Technical Summary: This embodiment provides a six-DOF parallel robot with a reasonable structure, flexible installation, and high degree of modularity. The branch connection method, achieved by the first and second double-joint components, combines high degree of freedom with high rigidity, resulting in strong stability. The branch connection method provides high stability and high-precision attitude adjustment capabilities. The control module is integrated into the main body, exhibiting high integration, simple circuitry, rapid response, and convenient maintenance. This six-DOF parallel robot as a whole possesses high-precision positioning, high response speed, and strong generalization ability, making it suitable for multiple fields such as machining, bionic motion platforms, VR / simulators, and medical robots, and demonstrating promising engineering application prospects.

[0056] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0057] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A six-degree-of-freedom parallel robot, characterized by, include: A static platform (1) is surrounded by three first double-joint components (2), which are distributed on a first circle at equal intervals. The moving platform (3) is surrounded by three second double-joint assemblies (4), which are distributed at equal intervals on a second circle; wherein the diameter of the second circle is smaller than that of the first circle. Six linear actuators (5), with the bottom ends of every two linear actuators (5) connected to the same first double joint assembly (2), and the top ends of the two linear actuators (5) respectively connected to one of the two adjacent second double joint assemblies (4).

2. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The first dual-joint assembly (2) includes a first joint seat (21) and two sets of first joint connectors (22). The first joint seat (21) is provided with two parallel first mounting holes (211). One end of one set of first joint connectors (22) is connected to one of the first mounting holes (211), and the other end is connected to the bottom end of a linear actuator (5).

3. The six-degree-of-freedom parallel robot according to claim 2, characterized in that, The first joint connector (22) includes: A first joint bearing (221) has a first connecting rod (222) on its radial outer wall. The first connecting rod (222) is disposed in a first mounting hole (211) through a first pair of bearings (225). The first connecting shaft (223) is inserted into the shaft hole of the first spherical bearing (221), and the first connecting shaft (223) is perpendicular to the first connecting rod (222). The first double earring seat (224) includes a connecting plate (2241) and two first earring portions (2242) with their sides disposed on the connecting plate (2241). The two ends of the first connecting shaft (223) are respectively connected to the two first earring portions (2242) through the second pair of bearings (226), and the gap between the two first earring portions (2242) allows the first connecting rod (222) to pass through. The connecting plate (2241) is configured to be connected to the bottom end of a linear actuator (5).

4. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The second dual-joint assembly (4) includes a second joint seat (41) and two sets of second joint connectors (42). The second joint seat (41) is provided with two parallel second mounting holes (411) that are inclined relative to the moving platform (3). One end of one set of second joint connectors (42) is connected to one of the second mounting holes (411), and the other end is connected to the top of a linear actuator (5).

5. The six-degree-of-freedom parallel robot according to claim 4, characterized in that, The second joint connector (42) includes: The second spherical bearing (421) has a second connecting rod (422) on its radial outer wall. The second connecting rod (422) is disposed in a second mounting hole (411) through a third pair of bearings (425). The second connecting shaft (423) is connected to the shaft hole of the second spherical bearing (421) through the fourth pair of bearings (426), and the second connecting shaft (423) is perpendicular to the second connecting rod (422). The second double earring seat (424) includes a connecting tube (4241) and two second earring portions (4242) disposed on the connecting tube (4241). The two ends of the second connecting shaft (423) are respectively passed through and supported in one of the two second earring portions (4242), and the gap between the two second earring portions (4242) allows the second connecting rod (422) to pass through. The stepped shaft (4243) has its small diameter section connected to the connecting cylinder (4241) via a fifth pair of bearings (427), and its large diameter section has a connecting hole suitable for connection to the top end of the linear actuator (5).

6. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The linear actuator (5) is either a servo electric cylinder or a linear actuator.

7. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, It also includes a control module (6), which is located in the center of the stationary platform (1) and is signal-connected to the six linear actuators (5).

8. The six-degree-of-freedom parallel robot according to claim 7, characterized in that, The control module (6) includes: Shell (61); Six actuators (62) are disposed inside the housing (61), and each actuator (62) is connected to one of the linear actuators (5) by a signal. The controller (63) is located inside the housing (61) and is signal-connected to the six drivers (62); A power converter (64) is disposed inside the housing (61) and is electrically connected to six linear actuators (5), six drivers (62) and the controller (63); A power switch is provided on the housing (61) and configured to control the on / off state of the power converter (64).

9. The six-degree-of-freedom parallel robot according to claim 8, characterized in that, The control module (6) further includes: A fan (65) is disposed at the top of the housing (61), and the top of the housing (61) is provided with an air outlet corresponding to the fan (65); The outer peripheral wall of the housing (61) is provided with a plurality of air inlets (66), each air inlet (66) facing at least one of the drivers (62) or at least one power converter (64).

10. The six-degree-of-freedom parallel robot according to claim 8, characterized in that, The static platform (1) and the moving platform (3) are circular or triangular; or, The bottom surface of the static platform (1) is provided with multiple casters (7).

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