Six-degree-of-freedom parallel robot

Abstract

The utility model relates to robot technical field especially relates to a high rigidity, high accuracy's six degrees of freedom parallel robot. Above static platform (11), interval sets up a top board (13). Top board (13) and static platform (11) jointly constitute a firm load frame. Through the additional top board (13), the track board (21) of each set of sliding mechanism (2) can be supported and connected between static platform (11) and top board (13), and the double-end support structure with stronger rigidity is formed. Under the premise of guaranteeing six degrees of freedom movement ability, the structural rigidity and stability of the drive branch of six degrees of freedom parallel robot are further enhanced to resist the deformation caused by load and inertial force, so that the comprehensive positioning accuracy and dynamic performance of the moving platform (12) are fundamentally improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a high-rigidity, high-precision six-degree-of-freedom parallel robot. Background Technology

[0002] Parallel robots, as an important type of industrial robot, feature a closed-loop kinematic chain structure compared to traditional serial robots. This structural characteristic endows them with advantages such as high rigidity, high load-bearing capacity, high speed, high precision, and low moment of inertia. For these reasons, six-degree-of-freedom parallel robots (often referred to as Stewart platforms or Hexagon platforms) have been widely used in many demanding technical fields, such as flight simulators for pilot training, immersive 4D / 5D cinema motion platforms, vehicle driving simulators for automotive R&D, high-precision satellite antenna attitude adjustment mechanisms, and as the core motion platform for parallel virtual axis machine tools in high-end manufacturing.

[0003] In existing parallel robots, the guiding components of the drive chain (such as lead screws or linear motor rails) are typically fixed to a single stationary platform or support, essentially a cantilevered or single-sided supported structure. When the robot is subjected to a large load or performs dynamic motion with high acceleration, these single-sided supported guiding components are prone to slight bending deformation or vibration. This deformation is directly transmitted to the moving platform, thus affecting the absolute positioning accuracy and attitude stability of the entire robot. Utility Model Content

[0004] In view of this, this utility model proposes a high-rigidity, high-precision six-degree-of-freedom parallel robot.

[0005] The six-DOF parallel robot provided by this utility model includes a static platform, a moving platform, a top plate, three sets of sliding mechanisms, six sets of first spherical hinge assemblies, three sets of double-joint mechanisms, and six connecting rods. The top plate is located between the static platform and the moving platform, and is closer to the moving platform. Each of the three sets of sliding mechanisms has two sets, and these three sets of sliding mechanisms are arranged on the static platform at the same interval angle. Each set of sliding mechanisms includes a track plate and a slider. The two ends of the track plate are supported and connected between the static platform and the top plate, and the slider is slidably mounted on the track plate; each slider is driven by a power device. One set of the six sets of first spherical hinge assemblies is mounted on one of the sliders. The three sets of double-joint mechanisms are arranged on the moving platform at the same interval angle, and each set of double-joint mechanisms has a pair of second spherical hinge assemblies. The first end of each of the six connecting rods is connected to one set of first spherical hinge assemblies, and the second end is connected to one set of second spherical hinge assemblies. Among them, the first spherical hinge assembly connected to the two connecting rods of a set of double-joint mechanisms does not belong to the same group of sliding mechanisms.

[0006] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the sliding mechanism further includes a lead screw, which is threadedly driven with the slider. One end of the lead screw is connected to the stationary platform through a first bearing assembly, and the other end is connected to the top plate through a second bearing assembly.

[0007] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the power device is a servo motor, which is disposed on the top surface of the stationary platform. Every two servo motors are disposed in the gap between two adjacent sliding mechanisms. The rotating shaft of the servo motor extends out of the stationary platform and is connected to a first toothed pulley. One end of the lead screw also extends out of the stationary platform and is connected to a second toothed pulley. The first toothed pulley and the second toothed pulley are connected by a toothed annular belt drive.

[0008] In a preferred embodiment of the six-DOF parallel robot provided by this utility model, the six-DOF parallel robot further includes three sets of second supports and three sets of servo drives. The second supports are disposed on the static platform and located in the gap between two servo motors; each of the three sets of servo drives has two servo drives, all disposed on the second supports, and each servo drive is electrically connected to one of the servo motors.

[0009] In a preferred embodiment of the six-DOF parallel robot provided by this utility model, the six-DOF parallel robot further includes three terminal blocks and a power converter. One terminal block is connected to a second support, and each set of servo drives is connected to one of the terminal blocks. The power converter is disposed on the bottom surface of the stationary platform and connects to the three terminal blocks to supply power to each of the servo drives.

[0010] 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 base connected to the bottom surface of the static platform, and an annular groove is formed on its top side. The annular groove is configured to accommodate six first toothed pulleys, six second toothed pulleys, and a power converter.

[0011] 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 an annular cover. The first axial end of the annular cover is connected to the top plate, and the second axial end is connected to the stationary platform. Multiple rows of heat dissipation holes corresponding to the servo motor, servo driver and sliding mechanism are also provided on its side wall.

[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 three first supports. One end of the first support is connected to the top surface of the static platform, and the other end is connected to the bottom surface of the top plate. Two track plates of a set of sliding mechanisms are connected to one of the first supports.

[0013] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the first spherical hinge assembly includes a first hinge seat and a first hinge ball. The first hinge seat is connected to the slider, and the opening of its spherical hinge groove is inclined relative to the stationary platform. The first hinge ball is hinged in the hinge groove, and its surface is provided with a first connecting end, which is connected to the first end of the connecting rod.

[0014] In a preferred embodiment of the six-degree-of-freedom parallel robot provided by this utility model, the dual-joint mechanism includes a joint seat, two second hinge seats, and two second hinge balls. The joint seat is disposed on the moving platform; the two second hinge seats are connected to the joint seat, and the openings of their two spherical hinge slots are inclined relative to the moving platform; one of the two second hinge balls is hinged within one of the hinge slots, and its surface is provided with a second connecting end, which is connected to the second end of the connecting rod.

[0015] The beneficial technical effects of this utility model are as follows: (1) High rigidity and high stability: The load-bearing frame is constructed by the static platform and the top plate, which provides support for both ends of the track plate, greatly improving the rigidity of the guide rail and reducing vibration and deformation under high speed and high load; (2) Low inertia and high dynamic response: All power equipment and sliding mechanisms are set on the static base, and only lightweight joint mechanisms are on the moving platform, which effectively reduces the total inertia of the moving parts, enabling the robot to achieve higher acceleration and faster dynamic response; (3) Compact structure: The layout of the three sets of sliding mechanisms makes full use of the space, making the overall structure relatively compact. Attached Figure Description

[0016] 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 the drawings:

[0017] Figure 1 This is a schematic diagram of the external structure of the six-degree-of-freedom parallel robot in this embodiment.

[0018] Figure 2 This is a schematic diagram of the internal structure and transmission system of the six-degree-of-freedom parallel robot in this embodiment.

[0019] Figure 3 This is a schematic diagram showing the arrangement of the first toothed pulley, the second toothed pulley, and the power converter of the six-degree-of-freedom parallel robot in this embodiment.

[0020] Figure 4 This is a schematic diagram showing the positional arrangement of the servo motors and servo drives of the six-degree-of-freedom parallel robot in this embodiment.

[0021] Figure 5 This is a schematic diagram of the arrangement of the connecting rod, the first spherical hinge assembly, and the double-joint mechanism of the six-degree-of-freedom parallel robot in this embodiment.

[0022] Figure 6 This is a schematic diagram of the connection structure between the connecting rod of the six-degree-of-freedom parallel robot in this embodiment and the first spherical hinge assembly and the double joint mechanism.

[0023] Figure 7 This is a schematic diagram of the base of the six-degree-of-freedom parallel robot in this embodiment.

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

[0025] 11-Static platform; 12-Dynamic platform; 13-Top plate;

[0026] 2-Sliding mechanism; 21-Trajectory plate; 201-First support; 22-Slider; 23-Lead screw; 231-First bearing assembly; 232-Second bearing assembly; 24-Second toothed pulley;

[0027] 3-First spherical hinge assembly; 31-First hinge seat; 32-First hinge ball; 33-First connecting end;

[0028] 4-Double joint mechanism; 41-Joint seat; 42-Second hinge seat; 43-Second hinge ball; 44-Second connecting end;

[0029] 5-Connecting rod;

[0030] 61-Servo motor; 62-First toothed pulley;

[0031] 71-Servo driver; 701-Second bracket; 72-Terminal block; 73-Power converter;

[0032] 81-Base; 811-Annular groove;

[0033] 9- Annular cover; 901- Heat dissipation hole. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] Please see Figures 1 to 6 This embodiment describes the implementation of a six-degree-of-freedom parallel robot. The six-degree-of-freedom parallel robot provided in this embodiment is a high-rigidity, high-precision, and compact six-degree-of-freedom motion platform.

[0037] The six-degree-of-freedom parallel robot includes a static platform 11 serving as a base and a moving platform 12 for performing tasks. In one embodiment, the static platform 11 and the moving platform 12 can be plate-like structures that are either regular hexagonal or circular. For the requirements of lightweight and high rigidity, they can be made of materials such as aerospace aluminum alloy and machined by CNC.

[0038] Above the static platform 11, a top plate 13 is spaced apart. The top plate 13 is located between the static platform 11 and the moving platform 12, and its position is closer to the moving platform 12. That is, the distance between the static platform 11 and the top plate 13 is greater than the distance between the top plate 13 and the moving platform 12 in their initial positions. The top plate 13 and the static platform 11 together form a sturdy load-bearing frame.

[0039] Inside the supporting frame, three sets of sliding mechanisms 2 are arranged. These three sets of sliding mechanisms 2 are radially distributed with equal intervals around the center of the static platform 11. Each set of sliding mechanisms 2 includes two parallel sub-mechanisms with identical structures. Specifically, each set of sliding mechanisms 2 includes a track plate 21 serving as a guide rail and a slider 22 that can slide on it. The track plate 21 is a rigid plate, and its two ends are firmly supported and connected between the static platform 11 and the top plate 13 by bolts or other fasteners, forming a vertical guide rail. For example, a groove is formed on each of the two side walls of the track plate 21, and a rib is formed on the slider 22 to slide and engage with the groove.

[0040] To achieve controlled movement of the sliders 22, each slider 22 is driven by an independent power unit. This power unit can be a hydraulic cylinder, a servo motor 61, a stepper motor, or other linear drive device, ensuring that the movement of each slider 22 is independently controllable.

[0041] The robot's kinematic chain consists of six connecting rods 5. The first end (e.g., the bottom end) of each connecting rod 5 is connected to a corresponding slider 22 via a set of first spherical hinge components 3. Correspondingly, the second end (e.g., the top end) of each connecting rod 5 is connected to the moving platform 12. To converge the connecting rods, three sets of double-joint mechanisms 4 are arranged at equal angular intervals on the moving platform 12. Each set of double-joint mechanisms 4 is equipped with a pair of second spherical hinge components for connecting two different connecting rods 5.

[0042] A key feature of this embodiment lies in its unique connection topology. The two connecting rods 5 of a set of double-joint mechanisms 4 are connected to first spherical hinge components 3 (i.e., sliders 22) that do not belong to the same group of sliding mechanisms 2. For example, in the first set of double-joint mechanisms 4 on the moving platform 12, one connecting rod 5 has its bottom end connected to a slider 22 of the first group of sliding mechanisms 2, while the bottom end of the other connecting rod is connected to a slider 22 of the third group of sliding mechanisms 2. The first group of sliding mechanisms 2, the second group of sliding mechanisms 2, and the third group of sliding mechanisms 2 are arranged sequentially on the circumference. This non-adjacent "cross-group" connection method forms a spatially staggered support structure.

[0043] The working principle of this six-DOF parallel robot is that six sets of power devices are precisely controlled by an external controller, which drive six sliders 22 to move vertically along their respective track plates 21. Although the lengths of the six connecting rods 5 are fixed, the spatial attitude of the six connecting rods 5 changes due to the change in the position of their bottom hinge points (slider 22), thereby coordinating to push or pull the moving platform 12 and realize its six-DOF motion in three-dimensional space (i.e., translation in the X, Y, and Z directions, and pitch, yaw, and roll around these three axes).

[0044] Thus, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) High rigidity and high stability: The load-bearing frame is constructed by the static platform 11 and the top plate 13, which provides support for both ends of the track plate 21, greatly improving the rigidity of the guide rail and reducing vibration and deformation under high speed and high load; (2) Low inertia and high dynamic response: All power equipment and sliding mechanism 2 are set on the static base, and only lightweight joint mechanism is on the moving platform 12, which effectively reduces the total inertia of the moving parts, enabling the robot to achieve higher acceleration and faster dynamic response; (3) Compact structure: The layout of the three sets of sliding mechanisms 2 makes full use of space, making the overall structure relatively compact.

[0045] This embodiment, while ensuring six-degree-of-freedom motion capability, further optimizes the mechanical structure of the parallel robot, particularly enhancing the structural rigidity and stability of its drive chain to resist deformation caused by load and inertial forces, thereby fundamentally improving the overall positioning accuracy and dynamic performance of the moving platform 12. The technical solution proposed in this embodiment, by adding a top plate 13, allows the track plate 21 of each sliding mechanism 2 to be supported and connected between the static platform 11 and the top plate 13, forming a more rigid double-end support structure.

[0046] In a preferred embodiment, continue to refer to Figure 5 To achieve more precise and powerful driving of the slider 22, each sliding mechanism 2 also includes a lead screw 23. The lead screw 23 is vertically arranged parallel to the track plate 21, with one end rotatably connected to the stationary platform 11 via a first bearing assembly 231, and the other end rotatably connected to the top plate 13 via a second bearing assembly 232. The slider 22 has a threaded hole (or a ball screw nut) machined to mate with the lead screw 23, thus achieving threaded transmission. When the lead screw 23 rotates, the slider 22 will move precisely in a straight line along the track plate 21. This ball screw transmission method has the advantages of high precision, low friction, and strong load-bearing capacity.

[0047] Furthermore, the power device used to drive the lead screw 23 is specifically a servo motor 61. To optimize the spatial layout, all six servo motors 61 are mounted on the top surface of the stationary platform 11 and cleverly arranged in the gap between two adjacent sliding mechanisms 2. The rotating shaft of the servo motor 61 passes downward through the stationary platform 11 and is connected to a first toothed pulley 62 on the bottom surface of the stationary platform 11. At the same time, the lower end of the lead screw 23 also passes downward through the stationary platform 11 and is connected to a second toothed pulley 24. The corresponding pair of first toothed pulleys 62 and second toothed pulleys 24 are connected by a toothed annular belt.

[0048] Modified implementation: The driving method can also be that the motor directly drives the lead screw 23 through the reducer, or the linear motor directly drives the slider 22. However, the combination of "motor + synchronous belt + lead screw" in this embodiment has comprehensive advantages in terms of cost, maintenance convenience and layout flexibility.

[0049] Working process: The external controller sends a command, the servo motor 61 rotates, and its power is transmitted to the second toothed pulley 24 through the first toothed pulley 62 and the toothed annular belt, which drives the lead screw 23 to rotate. The lead screw 23 then drives the slider 22 through the threaded pair to achieve precise up and down movement.

[0050] Thus, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) large and stable driving torque: the servo motor 61 is combined with the synchronous belt drive, which makes the start-up smooth and the noise low. The transmission ratio can be easily adjusted by changing the number of teeth of the pulley; (2) easy to maintain and dissipate heat: all motors 61 are concentrated on the top surface of the stationary platform 11, so that they are exposed to the outside, which not only facilitates wiring, debugging and replacement, but also helps the motor 61 to dissipate heat.

[0051] To achieve integrated installation and standardized wiring of the six servo motors 61 and their drivers, this robot also includes an integrated electrical support and connection system.

[0052] On the top surface of the static platform 11, in the gap between the two servo motors 61, three sets of second supports 701 are fixedly installed. Each set of second supports 701 is equipped with a set (i.e., two) of servo drivers 71. Each servo driver 71 is electrically connected to one of the adjacent servo motors 61 via a cable, providing it with power and control signals.

[0053] To simplify power supply wiring, each second support 701 is also equipped with a terminal block 72, to which the power cables of both servo drives 71 in this group are connected. A power converter 73 (e.g., an AC-to-DC switching power supply) is installed at the center or edge of the bottom surface of the stationary platform 11. The power converter 73 is connected to all three terminal blocks 72 via wires, thereby centrally supplying power to all six servo drives 71.

[0054] To protect and support the transmission mechanism (pulleys, timing belt) and electrical components (power converter 73) at the bottom of the stationary platform 11, a base 81 is attached to the bottom surface of the robot on the stationary platform 11. Combined with... Figure 2 and Figure 7 The top side of the base 81 (i.e., the side facing the stationary platform 11) is machined with an annular groove 811. The size and shape of this groove 811 are designed to accommodate components such as the six first toothed pulleys 62, the six second toothed pulleys 24, and the power converter 73.

[0055] Thus, the six-degree-of-freedom parallel robot of this embodiment has the following technical effects and advantages: (1) High integration and modularity: Electrical components such as the driver 71 and terminal block 72 are modularly installed using the gaps between the servo motors 61, resulting in a compact structure and clear wiring. (2) Safety and aesthetics: The annular groove 811 of the base 81 hides all transmission components and power supply, protecting these components from external dust and collision damage, and making the overall appearance of the robot more concise and professional.

[0056] In another preferred embodiment, refer to Figure 1 To provide comprehensive protection for the robot's internal motion mechanisms and electrical components, and to aid in heat dissipation, a ring-shaped cover 9 can be installed. This cover can be made of metal plate or engineering plastic, with its upper end connected to the edge of the top plate 13 and its lower end connected to the edge of the stationary platform 11, completely enclosing the three sets of sliding mechanisms 2. On the side wall of the cover 9, directly opposite the main heat-generating components such as the servo motor 61 and servo driver 71, multiple rows of heat dissipation holes 901 are provided to improve heat dissipation by utilizing natural convection or forced air cooling within the robot.

[0057] In another preferred embodiment, refer to Figure 5To further enhance the installation rigidity of the track slab 21, three sets of first supports 201 can be installed. Each first support 201 is a rigid component in the shape of a "U", T, or H, with one end fixed to the top surface of the stationary platform 11 by bolts and the other end fixed to the bottom surface of the top plate 13. The two track slabs 21 of the same sliding mechanism 2 are fixed to the two sides or the same side of the first supports 201, respectively. This firmly connects the two parallel track slabs 21 into a whole, greatly enhancing their ability to resist lateral forces and vibrations.

[0058] In another preferred embodiment, refer to Figure 6 The specific structure of the first spherical hinge assembly 3 can be as follows: the bottom of a first hinge seat 31 is fixed to the slider 22 by bolts; a spherical hinge groove is machined on the hinge seat 31, and the opening of the hinge groove is inclined relative to the plane of the stationary platform 11. A first hinge ball 32 is installed in the hinge groove to form a ball hinge. A first connecting end 33 (e.g., an externally threaded rod or a fork lug with a pin hole) is integrally formed or welded to the surface of the hinge ball 32 for connecting to the first end of the connecting rod 5. The inclined hinge groove opening design provides a larger swing range for the connecting rod 5, avoiding motion interference under certain extreme postures.

[0059] In another preferred embodiment, refer to Figure 6 The specific structure of the double-joint mechanism 4 can be as follows: the bottom of a joint seat 41 is fixed on the moving platform 12. Two second hinge seats 42 are connected to the joint seat 41. These two hinge seats 42 can be integrally formed or separately installed. The opening of the spherical hinge groove of each second hinge seat 42 is also inclined relative to the plane of the moving platform 12. Two second hinge balls 43 are respectively installed in the two hinge grooves, and each hinge ball 43 has a second connecting end 44, which is connected to the second end of two different connecting rods 5 respectively.

[0060] In summary, the various implementation methods of this embodiment, through unique structural design and optimized component layout, realize a six-degree-of-freedom parallel robot with high rigidity, high precision, high dynamic response, and compact structure, which has good prospects for industrial application.

[0061] 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.

[0062] 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 in that, include: Static platform (11); Dynamic platform (12); The top plate (13) is located between the static platform (11) and the moving platform (12), and is closer to the moving platform (12). Three sets of sliding mechanisms (2), each set of sliding mechanisms (2) has two sets. These three sets of sliding mechanisms (2) are set on the stationary platform (11) at the same interval angle. Each set of sliding mechanisms (2) includes a track plate (21) and a slider (22). The two ends of the track plate (21) are supported and connected between the stationary platform (11) and the top plate (13). The slider (22) is slidably set on the track plate (21). Each slider (22) is driven by a power device. Six sets of first spherical hinge components (3), one set of first spherical hinge components (3) is disposed on one of the sliders (22); Three sets of double joint mechanisms (4) are set on the moving platform (12) at the same interval angle, and each set of double joint mechanisms (4) is provided with a pair of second spherical hinge components; Six connecting rods (5), each connecting rod (5) has its first end connected to a set of the first spherical hinge assembly (3) and its second end connected to a set of the second spherical hinge assembly; Among them, the first spherical hinge assembly (3) connected to the two connecting rods (5) of a set of double joint mechanism (4) does not belong to the same group of sliding mechanism (2).

2. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The sliding mechanism (2) further includes: The lead screw (23) is threadedly driven with the slider (22). One end of the lead screw (23) is connected to the stationary platform (11) through the first bearing assembly (231), and the other end is connected to the top plate (13) through the second bearing assembly (232).

3. The six-degree-of-freedom parallel robot according to claim 2, characterized in that, The power equipment is a servo motor (61), which is set on the top surface of the stationary platform (11). Every two servo motors (61) are set in the gap between two adjacent sliding mechanisms (2). The shaft of the servo motor (61) extends out of the stationary platform (11) and is connected to a first toothed pulley (62). In addition, one end of the lead screw (23) extends out of the stationary platform (11) and is connected to a second toothed pulley (24). The first toothed pulley (62) and the second toothed pulley (24) are connected by a toothed annular belt drive.

4. The six-degree-of-freedom parallel robot according to claim 3, characterized in that, Also includes: Three sets of second supports (701) are provided on the static platform (11) and located in the gap between the two servo motors (61); Three sets of servo drives (71), each set of servo drives (71) has two and both are mounted on the second support (701), and one servo drive (71) is electrically connected to one of the servo motors (61).

5. The six-degree-of-freedom parallel robot according to claim 4, characterized in that, Also includes: Three terminal blocks (72), one terminal block (72) is connected to a second support (701), and each set of servo drivers (71) is connected to one of the terminal blocks (72); A power converter (73) is disposed on the bottom surface of the stationary platform (11) and is connected to the three terminal blocks (72) to supply power to each of the servo drives (71).

6. The six-degree-of-freedom parallel robot according to claim 5, characterized in that, Also includes: The base (81) is connected to the bottom surface of the stationary platform (11) and has an annular groove (811) formed on its top side. The annular groove (811) is configured to accommodate six first toothed pulleys (62), six second toothed pulleys (24) and a power converter (73).

7. The six-degree-of-freedom parallel robot according to claim 4, characterized in that, Also includes: The annular cover (9) has its first axial end connected to the top plate (13) and its second axial end connected to the stationary platform (11). Its side wall is also provided with multiple rows of heat dissipation holes (901) corresponding to the servo motor (61), servo driver (71) and sliding mechanism (2).

8. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, Also includes: Three first supports (201) are provided, one end of which is connected to the top surface of the static platform (11) and the other end is connected to the bottom surface of the top plate (13), and two track plates (21) of a set of sliding mechanisms (2) are connected to one of the first supports (201).

9. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The first spherical hinge assembly (3) includes: The first hinge seat (31) is connected to the slider (22), and the opening of its spherical hinge groove is inclined relative to the stationary platform (11); The first hinge ball (32) is hinged in the hinge groove and has a first connecting end (33) on its surface. The first connecting end (33) is connected to the first end of the connecting rod (5).

10. The six-degree-of-freedom parallel robot according to claim 1, characterized in that, The dual-joint mechanism (4) includes: Joint seat (41), which is disposed on the moving platform (12); Two second hinge seats (42) are connected to the joint seat (41), and the openings of their two spherical hinge slots are inclined relative to the moving platform (12); Two second hinged balls (43) are hinged in one of the hinged slots and have a second connecting end (44) on its surface. The second connecting end (44) is connected to the second end of the connecting rod (5).

Images