A new parallel manipulator

Abstract

The utility model provides a novel parallel manipulator, including static platform, dynamic platform and the manipulator assembly of connecting static platform and dynamic platform, the element between manipulator assembly is connected through first rotary connection mechanism, and the second rotary connection mechanism is connected between manipulator assembly and dynamic platform, first rotary connection mechanism and second rotary connection mechanism drive manipulator assembly and dynamic platform to multi -directional movement, the utility model discloses through setting first rotary connection mechanism and second rotary connection mechanism makes manipulator assembly and dynamic platform can multi -directional movement, greatly increased the motion flexibility and degree of freedom of manipulator, simultaneously, the design in the snatch piece can through the adsorption and release of sucking disc of snatch controller control, improved the precision and stability of workpiece snatch, in the maintenance aspect, because the modular design of each component, makes it more convenient and fast to troubleshoot and repair, reduces maintenance cost and enterprise's use cost.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically to a novel parallel robotic arm. Background Technology

[0002] Existing robotic arms have several limitations in use. Some traditional robotic arms have limited degrees of freedom, making it difficult to meet the demands of multi-angle and omnidirectional operation of workpieces under complex working conditions. Furthermore, while current technology requires lightweight components for robotic arms, this often results in insufficient rigidity. Additionally, some existing robotic arms struggle to adjust the distance between two links in a linkage group; such adjustments would necessitate modifying the overall thickness of the rotating arm. However, increasing the overall thickness of the rotating arm makes it excessively heavy, leading to inflexible or inaccurate control. Summary of the Invention

[0003] In view of this, the present invention provides a novel parallel robotic arm.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A novel parallel manipulator includes a static platform, a moving platform, and a manipulator assembly connecting the static and moving platforms. The moving platform can move along the manipulator assembly in the X, Y, and Z three-degree-of-freedom directions. The components of the manipulator assembly are connected by a first rotary connection mechanism, and the manipulator assembly and the moving platform are connected by a second rotary connection mechanism. The first and second rotary connection mechanisms drive the manipulator assembly and the moving platform to move. The manipulator assembly includes a rotating arm and connecting rods. The connecting rods and the rotating arm are connected by the first rotary connection mechanism, and the second rotary connection mechanism is disposed between the connecting rods and the moving platform. A connecting hole is opened on the rotating arm, and the connecting rods are respectively disposed at both ends of the connecting hole. A connecting tube is also disposed in the connecting hole. One end of the first rotary connection mechanism extends into the connecting tube and connects to the rotating arm. The length of the connecting tube is adjusted to adjust the spacing between the connecting rods.

[0006] Preferably, both the first rotary connection mechanism and the second rotary connection mechanism include an arc joint and a ball joint, wherein the ball joint and the arc joint are rotatably connected.

[0007] Preferably, the arcuate joint has an arcuate groove and an arcuate connecting hole, the spherical joint has a spherical part and a spherical part connecting rod, the size of the spherical part is set to correspond to the arcuate groove, one side of the spherical part extends into the arcuate groove and connects thereto, the connecting rod is set to the position of the arcuate connecting hole, one end of the connecting rod extends into the arcuate connecting hole so that the arcuate joint is fixedly connected to the connecting rod, and the spherical part connecting rod extends into the moving platform / rotating arm and is fixedly connected to it.

[0008] Preferably, the connecting pipe is provided with retaining rings on the portions extending out of the connecting holes at both ends, and the connecting pipe is provided with retaining grooves corresponding to the positions of the retaining rings. One side of the retaining ring extends into the retaining groove and connects with the connecting pipe. When the retaining rings on both sides of the connecting pipe extend into the retaining grooves, the retaining rings abut against the outer walls of the connecting holes to limit the movement of the connecting pipe within the connecting holes of the rotating arm.

[0009] Preferably, one side of the rotating arm protrudes partially towards the connecting rod to form a reinforcing structure, and the reinforcing structure has several weight-reducing holes that penetrate both sides.

[0010] Preferably, a fixed bracket protrudes from the stationary platform, and a drive motor is mounted on the fixed bracket. The drive motor is connected to the end of the rotating arm away from the connecting rod, and the drive motor drives the rotating arm to move.

[0011] Preferably, at least three sets of robotic arm assemblies are provided between the static platform and the moving platform. Each robotic arm assembly has two connecting rods, which are spaced apart from each other, and one end of each connecting rod is respectively located on both sides of the connecting pipe.

[0012] Preferably, the moving platform is further provided with a gripping component, which includes a connecting pipe, a gripping motor, a connecting frame, and a suction cup. The gripping controller is fixedly installed on the moving platform. The connecting pipe is installed above the gripping motor, and the suction cup is installed below the gripping motor. One end of the connecting pipe passes through the gripping motor and connects to the suction cup. The connecting frame is installed between the suction cup and the gripping controller.

[0013] The beneficial effects of this utility model are as follows: By setting up a first rotary connecting mechanism and a second rotary connecting mechanism, the robot arm assembly and the moving platform can move, greatly increasing the robot arm's motion flexibility and degree of freedom. The connecting tube allows for adjustment of the spacing between the links without increasing the thickness of the rotating arm or its weight, adapting to different situations during the robot arm assembly's grasping process. Furthermore, the reinforced structure of the rotating arm ensures both lightweight design and enhanced rigidity. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Appendix Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Appendix Figure 2 This is a schematic diagram of the structure of the first rotary connection mechanism and the second rotary connection mechanism in this utility model;

[0017] Appendix Figure 3 This is a schematic diagram of the structure of the arc-shaped joint and the ball joint in this utility model;

[0018] Appendix Figure 4 This is a schematic diagram of the gripping component in this utility model;

[0019] Appendix Figure 5 This is a schematic diagram of the connecting tube and retaining ring in this utility model.

[0020] Figure label:

[0021] 1. Static platform; 2. Moving platform; 3. Robotic arm assembly; 4. First rotary connection mechanism; 5. Second rotary connection mechanism; 6. Rotating arm; 7. Connecting rod; 8. Arc joint; 9. Ball joint; 10. Arc groove; 11. Arc connecting hole; 12. Spherical part; 13. Spherical part connecting rod; 14. Connecting rod; 15. Connecting hole; 16. Connecting tube; 17. Fixed bracket; 18. Drive motor; 19. Gripping component; 20. Vacuum connecting tube; 21. Gripping controller; 22. Connecting frame; 23. Suction cup; 24. Snap ring; 25. Snap groove; 26. Reinforcing structure; 27. Weight reduction hole. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The present invention will now be further described with reference to the accompanying drawings.

[0024] This utility model provides the following technical solution:

[0025] according to Figure 1-5 As shown, a novel parallel manipulator includes a static platform 1, a moving platform 2, and a manipulator assembly 3 connecting the static platform 1 and the moving platform 2. The moving platform 2 can move along the manipulator assembly 3 in the X, Y, and Z three-degree-of-freedom directions. The components of the manipulator assembly 3 are connected by a first rotary connection mechanism 4, and the manipulator assembly 3 and the moving platform 2 are connected by a second rotary connection mechanism 5. The first rotary connection mechanism 4 and the second rotary connection mechanism 5 drive the manipulator assembly 3 and the moving platform 2 to move. The manipulator assembly 3 includes a rotating arm 6 and a connecting rod 7. The connecting rod 7 and the rotating arm 6 are connected by the first rotary connection mechanism 4. The second rotary connection mechanism 5 is disposed between the connecting rod 7 and the moving platform 2. A connecting hole 15 is opened on the rotating arm 6, and the connecting rod 7 is respectively disposed at both ends of the connecting hole 15. A connecting tube 16 is also disposed in the connecting hole 15. One end of the first rotary connection mechanism 4 extends into the connecting tube 16 and connects to the rotating arm 6. The length of the connecting tube 16 is adjusted to adjust the spacing between the connecting rods 7. In this embodiment, the robot arm assembly 3 serves to connect the static platform 1 and the moving platform 2. The moving platform 2 can move flexibly through the first rotary connection mechanism 4 between the rotating arm 6 and the connecting rod 7, and the second rotary connection mechanism 5 between the robot arm assembly 3 and the moving platform 2. The connecting hole 15 on the rotating arm 6 provides mounting positions for the connecting rod 7 and the connecting pipe 16, allowing the components to be assembled in an orderly manner. The connecting rod 7 is arranged at both ends through the connecting hole 15, forming a symmetrical structure. This allows the force transmitted by the rotating arm 6 to be applied more evenly to the connecting rod 7, and also helps to form a parallelogram structure with the upper rotating arm 6 and the lower moving platform 2, enhancing the rigidity of the robot arm. The connecting pipe 16 tightly connects the rotating arm 6 and the connecting rod 7, ensuring the continuity of power transmission. When the drive motor 18 drives the rotating arm 6 to rotate, the rotating arm 6 transmits force to the connecting rods 7 on both sides through the connecting pipe 16. Meanwhile, the connecting pipe 16, while ensuring the lightweight design of the rotating arm 6, allows for adjustment of the spacing between a set of connecting rods 7. By selecting connecting pipes 16 of different lengths, the spacing of the connecting rods 7 can be adjusted to adapt to different situations, and in such cases, there is no need to adjust the thickness of the rotating arm 6. In this embodiment, the rotating arm has a tight-fitting hole, and one end of the tight-fitting screw passes through the tight-fitting hole to limit the movement and rotation of the connecting pipe 16 within the connecting hole 15.

[0026] according to Figure 2-3As shown, both the first rotary connection mechanism 4 and the second rotary connection mechanism 5 include an arcuate joint 8 and a spherical joint 9. The spherical joint 9 is rotatably connected to the arcuate joint 8. Specifically, one end of the arcuate joint 8 of the first rotary connection mechanism 4 is mounted on the connecting rod 7, and one end of the spherical joint 9 of the first rotary connection mechanism 4 is mounted on the rotating arm 6; one end of the arcuate joint 8 of the second rotary connection mechanism 5 is mounted on the connecting rod 7, and one end of the spherical joint of the second rotary connection mechanism 5 is mounted on the moving platform 2. The spherical joint 9 and the arcuate joint 8 are rotatably connected. In this embodiment, the function of the arcuate joint 8 and the spherical joint 9 is to realize flexible rotary connections between the components of the robot arm assembly 3 and between the robot arm assembly and the moving platform 2, providing a key motion basis for the multi-directional movement of the moving platform 2. The arcuate groove 10 of the arcuate joint 8 and the spherical part 12 of the spherical joint 9 are adapted to each other, and this connection method allows for smooth and multi-angle rotation between the two. When multiple rotating arms 6 rotate, the rotational motion is smoothly transmitted to the connecting rods 7 through the rotational connection of the ball joints 9 and the arc joints 8. Similarly, the connection between the connecting rods 7 and the moving platform 2 relies on the cooperation of the ball joints 9 and the arc joints 8 to convert the motion of the connecting rods 7 into movement of the moving platform 2 in the X, Y, and Z directions. This combination of arc joints 8 and ball joints 9 provides extremely high degrees of freedom and flexibility, increasing the manipulator's operating range and precision.

[0027] according to Figure 2-3As shown, the arc-shaped joint 8 has an arc-shaped groove 10 and an arc-shaped connecting hole 11. The ball joint 9 has a spherical part 12 and a spherical part connecting rod 13. One side of the spherical part 12 extends into the arc-shaped groove 10, connecting the arc-shaped joint 8 and the ball joint 9. The size of the spherical part 12 corresponds to the arc-shaped groove 10. The connecting rod 7 is provided with a connecting rod 14 at the position corresponding to the arc-shaped connecting hole 11. One end of the connecting rod 14 extends into the arc-shaped connecting hole 11, connecting the arc-shaped joint 8 and the connecting rod 7. The spherical part connecting rod 13 corresponding to the moving platform 2 extends into the moving platform 2 and is fixedly connected to it. The spherical part connecting rod 13 corresponding to the rotating arm 6 extends into the rotating arm 6 and is fixedly connected to it. In this embodiment, the function of the arc-shaped groove 10 is to provide a rotational space that matches the spherical part 12. Specifically, the shape of the groove hole of the arc-shaped groove 10 matches the spherical part 12, allowing the spherical part 12 to rotate flexibly within the arc-shaped groove 10. When the rotating arm 6 rotates, it transmits motion to the connecting rod 7. During this motion, the spherical part 12 of the ball joint 9 rotates within the arcuate groove 10. This engagement between the arcuate groove 10 and the spherical part 12 effectively reduces friction and wear during movement, improving the joint's lifespan. The arcuate connecting hole 11 serves to securely connect the arcuate joint 8 to the connecting rod 7. By inserting one end of the connecting rod 14 on the connecting rod 7 into the arcuate connecting hole 11, the arcuate joint 8 and the connecting rod 7 can be tightly joined together. The connection between the spherical part 12 and the arcuate groove 10 not only provides flexible rotational performance but also exhibits a degree of adaptability. When the robot encounters different loads and working conditions during operation, the spherical part 12 can automatically adjust its position and angle within the arcuate groove 10 to adapt to different work requirements. This adaptability enables the robot to better complete various complex tasks, improving work efficiency and quality. The spherical connecting rod 13 serves to securely connect the ball joint 9 to the moving platform 2 or the rotating arm 6. By inserting the spherical connecting rod 13 into the moving platform 2 or the rotating arm 6, the spherical joint 9 can be tightly connected to them, realizing the transmission of force and motion. A moving platform hole is formed on the moving platform 2 corresponding to the position of the connecting rod 7. A thread is formed in the moving platform hole, and a thread is formed on the outer wall of the spherical connecting rod 13. Both ends of the spherical connecting rod 13 extend into the two ends of the moving platform hole for connection. In this embodiment, the inner wall of the arc-shaped connecting hole of the arc-shaped joint 8 is threaded, and the outer side of the connecting rod 14 of the connecting rod 7 is threaded, with the two engaging in a threaded fit. Fixing holes are formed between the connecting rod 14 and the connecting rod 7, with the fixing holes of the connecting rod 14 corresponding to the fixing holes of the connecting rod 7. Screws are passed through the fixing holes to fix the two together.In this embodiment, a limiting block is provided on the outside of the spherical part. The limiting block is threadedly connected to the arc-shaped joint 8, so that the spherical part 9 is positioned between the arc-shaped groove and the limiting block. The limiting block limits the connection between the arc-shaped joint 8 and the spherical part 12, preventing it from falling off. In other cases, the arc surface design of the arc-shaped groove exceeds a semi-circle, making it impossible for the spherical part 9 to fall out of the arc-shaped groove 8. In this embodiment, the inner wall of the connecting pipe 16 is threaded, and the spherical part connecting rod 13 is also threaded. The connecting pipe 16 and the spherical part connecting rod 13 are connected by a threaded engagement.

[0028] according to Figure 2 , 3 As shown in Figure 5, retaining rings 24 are provided on the portions of the connecting pipe 16 extending out of the connecting holes 15 at both ends. Corresponding to the positions of the retaining rings 24, the connecting pipe 16 has retaining grooves 25. One side of the retaining ring 24 extends into the retaining groove 25 and connects to the connecting pipe 16. When the retaining rings 24 on both sides of the connecting pipe 16 extend into the retaining grooves 25, the retaining rings 24 respectively abut against the outer wall of the connecting hole 15, limiting the movement of the connecting pipe 16 within the connecting hole 15 of the rotating arm 6. In this embodiment, the design of the retaining rings 24 further enhances the stability of the connection between the connecting pipe 16 and the rotating arm 6, preventing unnecessary axial movement of the connecting pipe 16 during operation, thereby ensuring the motion accuracy of the entire robotic arm assembly. In actual operation, the drive motor 18 continuously provides power to the rotating arm 6, which smoothly and efficiently transmits the power to the connecting rod 7 through the connecting pipe 16. Simultaneously, the limiting effect of the retaining rings 24 also keeps the position of the connecting pipe 16 fixed within the connecting hole 15. The retaining ring 24 has an open end. One side of the retaining ring is inserted into the retaining groove through the open end. The retaining ring 24, which is sleeved on the outside of the retaining groove 25, allows the connecting pipe 16 to be limited within the connecting hole 15.

[0029] according to Figure 1 As shown, a partial protrusion on one side of the rotating arm 6 forms a reinforcing structure 26 towards the connecting rod. This reinforcing structure has several weight-reducing holes 27 extending through both sides. In this embodiment, the rotating arm 6 must be both lightweight and possess good rigidity. The partial protrusion on one side of the rotating arm 6 forming the reinforcing structure 26 strengthens the thickness of the upper end of the rotating arm 6, ensuring sufficient rigidity to withstand the pressure from its rotation and movement. Simultaneously, the thickness of the non-protruding portion ensures the lightweight nature of the rotating arm 6. The weight-reducing holes 27 serve to minimize weight while maintaining the rigidity and strength of the rotating arm 6.

[0030] according to Figure 1As shown, a fixed bracket 17 protrudes from the static platform 1, and a drive motor 18 is mounted on the fixed bracket 17. The drive motor 18 is connected to the end of the rotating arm 6 away from the connecting rod 7, and the drive motor 18 drives the rotating arm 6 to move. In this embodiment, the fixed bracket 17 provides a stable mounting base and support for the drive motor 18, ensuring the stability of the drive motor 18 on the static platform 1. The connection between the drive motor 18 and the rotating arm 6 allows the power of the drive motor 18 to be accurately transmitted to the rotating arm 6, causing the rotating arm 6 to rotate in a predetermined manner. During the entire operation of the robotic arm, the fixed bracket 17, by stably supporting the drive motor 18, indirectly ensures the normal operation of the robotic arm component 3, enabling the moving platform 2 to move flexibly in the X, Y, and Z directions and in multiple directions, achieving accurate grasping and handling of objects. In this embodiment, the drive motor 18 is fixedly mounted on one side of the fixed bracket 17, and the rotating arm 6 is mounted on the other side of the fixed bracket 17. The fixed bracket 17 has a drive hole, and one end of the drive motor 18 passes through the drive hole and connects to the rotating arm 6. In other cases, the drive motor 18 can flexibly adjust the motion parameters of the rotating arm 6 according to the actual situation. For example, when grasping objects of different weights, sizes, and shapes, the drive motor 18 can adjust the rotation speed and force of the rotating arm 6 to ensure that the moving platform 2 can stably and accurately approach the target object and successfully complete the grasping action. In this embodiment, the reinforcing structure 26 is formed on the side away from the drive motor 18.

[0031] according to Figure 1 As shown in the disclosed embodiment, three sets of manipulator assemblies 3 are arranged between the static platform 1 and the moving platform 2. Each manipulator assembly 3 has two connecting rods 7, which are spaced apart from each other, and one end of each connecting rod 7 is respectively located on both sides of the connecting pipe 16. In this embodiment, the arrangement of the three sets of manipulator assemblies 3 provides more stable support and more flexible motion control for the moving platform 2. The coordinated work of multiple sets of manipulator assemblies makes the movement of the moving platform 2 in the X, Y, and Z degrees of freedom more stable and precise. When one set of manipulator assemblies 3 moves under the drive of the drive motor 18, the other manipulator assemblies can also cooperate accordingly to adjust the position and posture of the moving platform 2. The structure of the two connecting rods 7 being spaced apart from each other and respectively located on both sides of the connecting pipe 16 further enhances the stability and load-bearing capacity of the manipulator assembly 3. This symmetrical arrangement allows the force transmitted from the rotating arm 6 to the connecting rods 7 to be evenly distributed, avoiding motion deviation caused by uneven force. In actual operation, the three sets of robotic arm components 3 can move simultaneously, working together with the first rotary connection mechanism 4 and the second rotary connection mechanism 5 to adjust the position and angle of the moving platform 2 to ensure that it can stably grasp objects.

[0032] according to Figure 1 , 4 As shown, the moving platform 2 is also equipped with a gripping component 19, which includes a vacuum connecting pipe 20, a gripping motor 21, a connecting frame 22, and a suction cup 23. The gripping motor 21 is fixedly mounted on the moving platform 2, the vacuum connecting pipe 20 is positioned above the gripping motor 21, and the suction cup 23 is positioned below the gripping motor 21. One end of the vacuum connecting pipe 20 passes through the gripping motor 21 and connects to the suction cup 23. In this embodiment, the upper end of the vacuum connecting pipe 20 is connected to an external vacuum source. The negative pressure generated by the external vacuum source enables the suction cup 23 to adsorb objects. The gripping motor 21 controls the position and angle of the workpiece after the suction cup 23 grips it. When an object needs to be gripped, the external vacuum source starts working, creating a negative pressure inside the vacuum connecting pipe 20, which causes the suction cup 23 to firmly adhere to the object. When the object needs to be released, the external vacuum source is turned off, causing the negative pressure inside the suction cup 23 to disappear, and the object will naturally fall off. The connecting frame 22 connects the gripping motor 21 and the suction cup 23, allowing the suction cup 23 to rotate according to instructions after picking up materials, arranging the materials in their position and orientation. Simultaneously, the connecting frame 22 provides support and stability, ensuring the suction cup 23 maintains a stable posture during object gripping and handling. This gripping component 19 design enables the moving platform 2 to move flexibly in the XYZ three-degree-of-freedom directions and multiple directions, accurately gripping and handling objects. Moreover, since the gripping component 19 is directly mounted on the moving platform 2, it can quickly reach the target position as the moving platform 2 moves, greatly improving work efficiency. In this embodiment, a through hole is formed in the center of the moving platform 2, and one end of the gripping controller 21 passes through the through hole and connects to the suction cup 23.

[0033] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A novel parallel manipulator, comprising a static platform, a moving platform, and a manipulator assembly connecting the static platform and the moving platform, wherein the moving platform is movable along the manipulator assembly in three degrees of freedom (X, Y, Z), the components of the manipulator assembly are connected by a first rotary connection mechanism, and the manipulator assembly and the moving platform are connected by a second rotary connection mechanism, wherein the first and second rotary connection mechanisms drive the manipulator assembly and the moving platform to move, characterized in that: The robotic arm assembly includes a rotating arm and connecting rods. The connecting rods and the rotating arm are connected by a first rotating connection mechanism. A second rotating connection mechanism is disposed between the connecting rods and the moving platform. A connection hole is opened on the rotating arm. The connecting rods are respectively disposed at both ends of the connection hole. A connecting tube is also disposed in the connection hole. One end of the first rotating connection mechanism extends into the connecting tube and is connected to the rotating arm. The spacing between the connecting rods is adjusted by adjusting the length of the connecting tube.

2. The novel parallel manipulator according to claim 1, characterized in that: Both the first and second rotary connection mechanisms include an arc joint and a ball joint, and the ball joint and the arc joint are rotatably connected.

3. A novel parallel robotic arm according to claim 2, characterized in that: The arc-shaped joint has an arc-shaped groove and an arc-shaped connecting hole. The spherical joint has a spherical part and a spherical part connecting rod. One side of the spherical part extends into the arc-shaped groove to connect the arc-shaped joint and the spherical joint. The size of the spherical part is set to correspond to the arc-shaped groove. The connecting rod is set to the position of the arc-shaped connecting hole. One end of the connecting rod extends into the arc-shaped connecting hole to connect the arc-shaped joint and the connecting rod. The spherical part connecting rod corresponding to the moving platform extends into the moving platform and is fixedly connected to it. The spherical part connecting rod corresponding to the rotating arm extends into the rotating arm and is fixedly connected to it.

4. A novel parallel robotic arm according to claim 1, characterized in that: The connecting pipe is provided with retaining rings on the parts extending out of the connecting holes at both ends. The connecting pipe is provided with retaining grooves corresponding to the positions of the retaining rings. One side of the retaining ring extends into the retaining groove and connects with the connecting pipe. When the retaining rings on both sides of the connecting pipe extend into the retaining grooves, the retaining rings abut against the outer wall of the connecting hole to limit the movement of the connecting pipe in the connecting hole of the rotating arm.

5. A novel parallel robotic arm according to claim 4, characterized in that: One side of the rotating arm protrudes in a partial manner towards the connecting rod to form a reinforcing structure, and the reinforcing structure has several weight-reducing holes that penetrate through both sides.

6. A novel parallel robotic arm according to claim 1, characterized in that: A fixed bracket protrudes from the stationary platform, and a drive motor is mounted on the fixed bracket. The drive motor is connected to the end of the rotating arm away from the connecting rod, and the drive motor drives the rotating arm to move.

7. A novel parallel robotic arm according to claim 1, characterized in that: At least three sets of robotic arm assemblies are provided between the static platform and the moving platform. Each robotic arm assembly has two connecting rods, which are spaced apart from each other, and one end of each connecting rod is respectively located on both sides of the connecting pipe.

8. A novel parallel manipulator according to claim 7, characterized in that: The moving platform is also equipped with a gripping component, which includes a connecting pipe, a gripping motor, a connecting frame, and a suction cup. The gripping motor is fixedly mounted on the moving platform, the connecting pipe is positioned above the gripping controller, and the suction cup is positioned below the gripping controller. One end of the connecting pipe passes through the gripping motor and connects to the suction cup, and the connecting frame is positioned between the suction cup and the gripping motor.

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