Parallel transfer robot having coaxial drive joint and operating method therefor

Abstract

A parallel transfer robot having a coaxial drive joint, comprising a truss structure (1), guide parts mounted on the truss structure (1), multiple moving parts, multiple linkages, and an end effector (10). A through transfer channel is formed in the middle of the truss structure (1). The guide parts are a first guide part (2) and a second guide part (3), linear guide rails being provided on the first guide part (2) and the second guide part (3), the first guide part (2) being mounted at an upper part of the truss structure (1), and the second guide part (3) being mounted at a side surface of the truss structure (1). A first moving part (4) is mounted on a linear guide rail of the first guide part (2), and a second moving part (5) and a third moving part (6) are mounted on a linear guide rail of the second guide part (3), and are arranged in sequence from front to back. The first moving part (4), the second moving part (5) and the third moving part (6) are each provided with linear driving parts, a linear driving part driving the first moving part (4) to move linearly along the linear guide rail of the first guide part (2), and linear driving parts driving the second moving part (5) and the third moving part (6) to move linearly along the linear guide rail of the second guide part (3). A first motion linkage (7), a second motion linkage (8) and a third motion linkage (9) are also provided, which are connected in parallel to the end effector (10). This linkage structure for the parallel transfer robot facilitates reducing the overall weight of the robot, the inclusion of a coaxial drive joint facilitates reducing the number of guide rails, and the core structure uses a parallel mechanism to improve the rigidity and motion flexibility of the robot.

Description

Parallel transfer robot with coaxial driving joint and operation method thereof TECHNICAL FIELD

[0001] The present application relates to a transfer robot, in particular to a parallel transfer robot with coaxial driving joint and operation method thereof. BACKGROUND

[0002] Transfer robots are indispensable automated intelligent equipment in modern manufacturing industry, and are widely used in material transfer in construction, petrochemical industry, food industry and other industries. Not only does the transfer robot need to have high motion flexibility, large working space, strong environmental adaptability and other performances, but also higher requirements are put forward for its load capacity, dynamic characteristics and the like.

[0003] The robots disclosed in patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1 and EP3272470B1 for transfer are all of a serial structure, and have low load self-weight ratio and poor static and dynamic performance, which cannot meet the high efficiency requirements of heavy load transfer.

[0004] The transfer robots disclosed in patents CN212608257U, CN110815183A, CN110815184A, CN106826765A and CN106584426A take parallel mechanisms as cores, but adopt a rotary driving scheme for the driving joints, and the force arm is long, which is difficult to meet the application requirements of heavy load transfer in a large range. SUMMARY

[0005] In view of the above problems, the present application provides a parallel transfer robot with coaxial driving joint and operation method thereof, which realizes the parallel transfer robot with coaxial driving joint having high cost performance, high load self-weight ratio and large motion space.

[0006] The technical scheme adopted by the present application is as follows:

[0007] The parallel transfer robot with coaxial driving joint of the present application comprises a truss structure, a guide part mounted on the truss structure, a plurality of moving parts, a plurality of connecting rods and an end execution part,

[0008] The truss structure has a through transfer channel in the middle, and the guide part comprises a first guide part and a second guide part, and a linear guide rail is arranged on the top of the guide part, the first guide part is mounted on the top of the truss structure, and the second guide part is mounted on the side of the truss structure;

[0009] The first moving part is installed on the linear guide rail of the first guide part, the second moving part and the third moving part are installed on the linear guide rail of the second guide part in front and back, and the first moving part, the second moving part and the third moving part are respectively provided with linear driving parts;

[0010] The linear driving parts drive the first moving part to move linearly along the linear guide rail of the first guide part, the second moving part and the third moving part are installed on the second guide part and arranged in front and back, and the linear driving parts drive the second moving part and the third moving part to move linearly along the linear guide rail of the second guide part;

[0011] The first moving link, the second moving link and the third moving link are connected in parallel with the end execution part,

[0012] The front end rod of the first moving link is connected with the end execution part through the rotary joint a installed on the end execution part, and the rear end rod is connected with the first moving part through the rotary joint b installed on the first moving part;

[0013] The front end rod of the second moving link is connected with the end execution part through the rotary joint c installed on the end execution part, and the rear end rod is connected with the second moving part through the rotary joint d installed on the second moving part;

[0014] The front T-shaped shaft of the third moving link is connected with the end execution part through the rotary joint e installed on the end execution part, and the rear T-shaped shaft is connected with the third moving part through the rotary joint f installed on the third moving part;

[0015] The rotation centers of the rotary joint a and the rotary joint c are vertically arranged, the rotation centers of the rotary joint c and the rotary joint e are arranged in parallel, the rotary joint c is located at the far end of the second guide part relative to the rotary joint e, the first moving link is provided with two parallel links, and the two links are respectively connected with the two ends of the rotary joint a, the second moving link is provided with two parallel links, and the two links are respectively connected with the two ends of the rotary joint c;

[0016] By adjusting the positions of the first moving part on the first guide part and the positions of the second moving part and the third moving part on the second guide part, the end execution part is adjusted to move up, down, left, right and front and back towards one side.

[0017] According to the parallel transfer robot with the coaxial line driving joint, the guide axes of the linear guide rails of the first guide part and the second guide part are parallel to each other.

[0018] According to the parallel transfer robot with the coaxial line driving joint, the first moving link and the second moving link are the same in structure,

[0019] The first motion linkage and the second motion linkage comprise a rear end rod, a front end rod, an upper end rod, a lower end rod, a revolute pair a, a revolute pair b, a revolute pair c and a revolute pair d, the upper end of the rear end rod is connected with the rear end of the upper end rod through the revolute pair a, the lower end of the rear end rod is connected with the rear end of the lower end rod through the revolute pair d, the upper end of the front end rod is connected with the front end of the upper end rod through the revolute pair b, and the lower end of the front end rod is connected with the front end of the lower end rod through the revolute pair c.

[0020] According to the parallel transfer robot with a coaxial driving joint, the third motion linkage comprises a front T-shaped shaft, a revolute pair e, a long linkage, a revolute pair f and a rear T-shaped shaft, the front T-shaped shaft is connected with the front end of the long linkage through the revolute pair e, and the rear T-shaped shaft is connected with the rear end of the long linkage through the revolute pair f.

[0021] According to the parallel transfer robot with a coaxial driving joint, the rear end rod, the front end rod, the upper end rod and the lower end rod constitute a parallelogram mechanism, the rear end rod and the front end rod are always parallel to each other, and the upper end rod and the lower end rod are always parallel to each other. The parallelogram mechanism of the first motion linkage keeps the bottom surface of the end effector parallel to the upper side surface of the truss structure, and the parallelogram mechanism of the second motion linkage keeps the left and right side surfaces of the end effector parallel to the left and right side surfaces of the truss structure.

[0022] According to the parallel transfer robot with a coaxial driving joint, the first moving part and the second moving part are the same in structure and comprise a mounting base a and a motor a, the motor a is mounted on the mounting base a, and the motor a drives the mounting base a to move linearly along the guide part.

[0023] According to the parallel transfer robot with a coaxial driving joint, the third moving part comprises a mounting base b and a motor b, the motor b is mounted on the mounting base b, and the motor b drives the mounting base b to move linearly along the guide part.

[0024] According to the parallel transfer robot with a coaxial driving joint, the motor a of the first moving part and the second moving part and the motor b of the third moving part are replaced by a hydraulic or pneumatic driving structure.

[0025] According to the parallel transfer robot with a coaxial driving joint, the end effector is provided with a fixed end and a moving part mounting end, and the rotary joint a, the rotary joint c and the rotary joint e are arranged on the vertical plane of the fixed end.

[0026] The operation method of the parallel transfer robot with a coaxial driving joint,

[0027] The interface of the truss structure perpendicular to the guide directions of the first guide part and the second guide part is taken as a reference surface,

[0028] The operation steps include the following steps,

[0029] The end execution part moves forward and backward relative to the reference surface:

[0030] The first moving part, the second moving part and the third moving part move at the same speed along the corresponding guide part, the first movement link, the second movement link and the third movement link drive the end execution part to move linearly, i.e. to move forward and backward in the truss structure;

[0031] The end execution part moves left and right along the reference surface:

[0032] The first moving part is stationary relative to the reference surface, the second moving part moves forward along the second guide part, the second movement link swings backward at a radius relative to the rotating joint d, the third moving part moves backward along the second guide part or the moving speed of the third moving part along the second guide part is less than that of the second moving part along the second guide part, the third movement link swings forward at a radius relative to the rotating joint f, and at this time, the end execution part moves to the left of the reference surface;

[0033] The third moving part moves forward along the second guide part, the third movement link swings backward at a radius relative to the rotating joint f, the second moving part moves backward along the second guide part or the moving speed of the second moving part along the second guide part is less than that of the third moving part along the second guide part, the second movement link swings forward at a radius relative to the rotating joint d, and at this time, the end execution part moves to the right of the reference surface;

[0034] The end execution part moves up and down along the reference surface:

[0035] The first moving part moves forward along the first guide part, the first movement link swings backward relative to the rotating joint b, the second moving part and the third moving part are stationary relative to the plane or the moving speed of the second moving part along the second guide part is less than that of the first moving part along the first guide part, the first movement link swings backward relative to the rotating joint b, and at this time, the end execution part moves downward in the plane;

[0036] The first moving part moves backward along the first guide part, the first movement link swings forward relative to the rotating joint b, the second moving part and the third moving part are stationary relative to the plane or the moving speed of the second moving part along the second guide part is greater than that of the first moving part along the first guide part, the first movement link swings forward relative to the rotating joint b, and at this time, the end execution part moves upward in the plane;

[0037] The above steps are synchronous or asynchronous, and drive the end execution part to move in the truss structure.

[0038] The parallel transfer robot with a coaxial driving joint has the following advantages and positive effects:

[0039] 1. The first motion link, the second motion link, the third motion link are connected in parallel with the end effector and are driven by the first moving part, the second moving part and the third moving part, compared with patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, EP3272470B1, the load-weight ratio and the end static-dynamic stiffness of the transfer robot are improved;

[0040] 2. By adjusting the positions of the first moving part, the second moving part and the third moving part in the first guide part and the second guide part, the position of the end effector is adjusted, compared with patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, CN106584426A, the motion range and the load capacity of the transfer robot are greatly improved.

[0041] 3. The first motion link, the second motion link and the third motion link all adopt the linkage mechanism, which is beneficial to reduce the weight of the robot mechanical body, and the second moving part and the third moving part are simultaneously installed on the second guide part, which is beneficial to reduce the number of guide rails and reduce the manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0042] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0043] Fig. 2 is a rear view of Fig. 1;

[0044] Fig. 3 is a schematic diagram of the installation of the parallel transfer robot with coaxial driving joints of the present application;

[0045] Fig. 4 is a schematic diagram of the installation of the coaxial driving joint in Fig. 3;

[0046] Fig. 5 is a schematic diagram of the structure of the parallelogram mechanism of the first motion link and the second motion link of the present application;

[0047] Fig. 6 is a schematic diagram of the structure of the third motion link of the present application.

[0048] In the figure: 1: truss structure, 2: first guide part, 3: second guide part, 4: first moving part, 5: second moving part, 6: third moving part, 7: first motion connecting rod, 8: second motion connecting rod, 9: third motion connecting rod, 10: end execution part, 11: rotary joint b, 12: rotary joint d, 13: rotary joint f, 14: rotary joint a, 15: rotary joint c, 16: rotary joint e, 17: motor a, 18: driving mounting seat a, 19: rear end rod, 20: rotary pair a, 21: upper end rod, 22: rotary pair b, 23: front end rod, 24: rotary pair c, 25: lower end rod, 26: rotary pair d, 27: motor b, 28: mounting seat b, 29: rear T-shaped shaft, 30: rotary pair f, 31: long connecting rod, 32: rotary pair e, 33: front T-shaped shaft. DETAILED DESCRIPTION

[0049] The parallel transfer robot with coaxial driving joint of the present application is described in detail below in combination with the embodiments and the accompanying drawings.

[0050] As shown in Fig. 1, Fig. 2 and Fig. 3, the parallel transfer robot with coaxial driving joint of the present application comprises a truss structure 1, a first guide part 2 and a second guide part 3 mounted on the truss structure 1, and a first moving part 4, a second moving part 5, a third moving part 6, a first motion connecting rod 7, a second motion connecting rod 8, a third motion connecting rod 9 and an end execution part 10.

[0051] The truss structure 1 of the present application has a through transfer channel in the middle, and the internal space is not blocked, which can be used to place the unloading end of the conveying line and the carriages to be loaded.

[0052] The first guide part 2 and the second guide part 3 are provided with linear guides, the first guide part 2 is mounted on the upper surface of the truss structure 1, and the second guide part 3 is mounted on the side surface of the truss structure 1. The guide axes of the linear guides of the first guide part 2 and the second guide part 3 are parallel to each other. The first motion connecting rod 7, the second motion connecting rod 8, the third motion connecting rod 9 and the end execution part 10 are connected in parallel.

[0053] The first moving part 4 is mounted on the linear guide of the first guide part 2, and the second moving part 5 and the third moving part 6 are mounted on the linear guide of the second guide part 3 in front of and behind each other, and the first moving part 4, the second moving part 5 and the third moving part 6 are respectively provided with linear driving parts. The linear driving parts drive the first moving part 4 to move linearly along the linear guide of the first guide part 2, and the linear driving parts drive the second moving part 5 and the third moving part 6 to move linearly along the linear guide of the second guide part 3.

[0054] The second moving part 5 and the third moving part 6 can move in the same direction under the driving of the linear driving part, and can move synchronously or asynchronously, or can move in the opposite direction, or one moving part can fix the other moving part to move close to or away from each other. The first moving part can move in the same direction as the second moving part 5 and the third moving part 6, or can move in the opposite direction.

[0055] The device adjusts the position of the first moving part 4 in the first guide part 2, and the position of the second moving part 5 and the third moving part 6 in the second guide part 3, to adjust the end executing part 10 to move up, down, left, right, forward and backward towards one side.

[0056] As shown in FIGS. 4, 5 and 6, the first motion linkage 7 and the second motion linkage 8 have the same structure, including a rear end rod 19, a front end rod 23, an upper end rod 21, a lower end rod 25, a revolute pair a 20, a revolute pair b 22, a revolute pair c 24 and a revolute pair d 26. The upper end of the rear end rod 19 is connected to the rear end of the upper end rod 21 through the revolute pair a 20, the lower end of the rear end rod 19 is connected to the rear end of the lower end rod 25 through the revolute pair d 26, the upper end of the front end rod 23 is connected to the front end of the upper end rod 21 through the revolute pair b 22, and the lower end of the front end rod 23 is connected to the front end of the lower end rod 25 through the revolute pair c 24.

[0057] The rear end rod 19, the front end rod 23, the upper end rod 21 and the lower end rod 25 form a parallelogram mechanism, which always keeps the rear end rod 19 and the front end rod 23 parallel to each other, and the upper end rod 21 and the lower end rod 25 parallel to each other.

[0058] The third motion linkage 9 includes a front T-shaped shaft 33, a revolute pair e 33, a long linkage 31, a revolute pair f 30 and a rear T-shaped shaft 29. The front T-shaped shaft 33 is connected to the front end of the long linkage 31 through the revolute pair e 33, and the rear T-shaped shaft 29 is connected to the rear end of the long linkage 31 through the revolute pair f 30.

[0059] Specifically, the front end rod of the first motion linkage 7 is connected to the end executing part 10 through the revolute joint a 14 installed on the end executing part 10, and the rear end rod is connected to the first moving part 4 through the revolute joint b 11 installed on the first moving part 4.

[0060] The front end rod of the second motion linkage 8 is connected to the end executing part 10 through the revolute joint c 15 installed on the end executing part 10, and the rear end rod is connected to the second moving part 5 through the revolute joint d 12 installed on the second moving part 5.

[0061] The front T-shaped shaft of the third motion linkage 9 is connected to the end executing part 10 through the revolute joint e 16 installed on the end executing part 10, and the rear T-shaped shaft is connected to the third moving part 6 through the revolute joint f 13 installed on the third moving part 6.

[0062] The parallelogram mechanism of the first movement link 7 keeps the bottom surface of the end effector 10 parallel to the upper side of the truss structure 1, and the parallelogram mechanism of the second movement link 8 keeps the left and right side surfaces of the end effector 10 parallel to the left and right side surfaces of the truss structure 1.

[0063] The first moving part 4 and the second moving part 5 in the device are structurally identical, comprising a mounting seat a 18 and a motor a 17, wherein the motor a 17 is mounted on the mounting seat a 18, and the motor a 17 drives the mounting seat a 18 to move linearly along the guide part.

[0064] The third moving part 6 in the device comprises a mounting seat b 28 and a motor b 27, wherein the motor b 27 is mounted on the mounting seat b 28, and the motor b 27 drives the mounting seat b 28 to move linearly along the guide part.

[0065] The motor a 17 of the first moving part 4 and the second moving part 5 and the motor b 27 of the third moving part 6 in the device can be replaced by a hydraulic or pneumatic driving structure, which is required to realize controllable moving distance and speed.

[0066] The working process of the present application is described as follows:

[0067] A truss structure interface perpendicular to the guide directions of the first guide part 2 and the second guide part 3 is taken as a reference surface, and the movement process of the end effector 10 is described,

[0068] comprising the following operation steps,

[0069] 1) The end effector 10 moves forward and backward relative to the reference surface:

[0070] The first moving part 4, the second moving part 5 and the third moving part 6 move at the same speed along the corresponding guide parts, and the end effector 10 is driven by the first movement link 7, the second movement link 8 and the third movement link 9 to move linearly, i.e. to move forward and backward in the truss structure 1;

[0071] 2) The end effector 10 moves left and right along the reference surface:

[0072] The first moving part 4 is stationary relative to the reference surface, the second moving part 5 moves forward along the second guide part 3, the second movement link 8 swings back with a radius about the rotary joint d 12, the third moving part 6 moves backward along the second guide part 3 or the moving speed of the third moving part 6 along the second guide part 3 is less than that of the second moving part 5 along the second guide part 3, and the third movement link 9 swings forward with a radius about the rotary joint f 13, so that the end effector 10 moves to the left of the reference surface;

[0073] The third moving part 6 moves forward along the second guide part 3, the third movement connecting rod 9 swings back with a radius around the rotating joint f 13, the second moving part 5 moves backward along the second guide part 3 or the moving speed of the second moving part 5 along the second guide part 3 is less than the moving speed of the third moving part 6 along the second guide part 3, the second movement connecting rod 8 swings forward with a radius around the rotating joint d 12; at this time, the end executing part 10 moves to the right of the reference plane;

[0074] 3) The end executing part 10 moves up and down along the above-mentioned reference plane:

[0075] The first moving part 4 moves forward along the first guide part 2, the first movement connecting rod 7 swings back around the rotating joint b 11; the second moving part 5 and the third moving part 6 are not moved relative to the plane or the moving speed along the second guide part 3 is less than the moving speed of the first moving part 4 along the first guide part 2, the first movement connecting rod 7 swings back around the rotating joint b 11, at this time, the end executing part 10 moves downward in the plane;

[0076] The first moving part 4 moves backward along the first guide part 2, the first movement connecting rod 7 swings forward around the rotating joint b 11; the second moving part 5 and the third moving part 6 are not moved relative to the plane or the moving speed along the second guide part 3 is greater than the moving speed of the first moving part 4 along the first guide part 2, the first movement connecting rod 7 swings forward around the rotating joint b 11, at this time, the end executing part 10 moves upward in the plane;

[0077] 4) The above-mentioned steps 1), 2) and 3) are moved synchronously or asynchronously, driving the end executing part 10 to move in the truss structure 1.

[0078] With the position changes of the first moving part 4, the second moving part 5 and the third moving part 6 and the angle changes of the first movement connecting rod 7, the second movement connecting rod 8 and the third movement connecting rod 9, the end executing part 10 rotates around the front end connecting rod 23 of the first movement connecting rod 7 and the second movement connecting rod 8 and rotates around the front T-shaped shaft 33 of the third movement connecting rod 9, so that the end executing part 10 completes up-down, left-right and forward-backward movements.

[0079] The device improves the load-to-weight ratio and the end static and dynamic stiffness of the transfer robot, improves the movement range and load capacity of the transfer robot, greatly improves the movement range and load capacity of the transfer robot. The first movement connecting rod, the second movement connecting rod and the third movement connecting rod all adopt connecting rod mechanisms, which is conducive to reducing the weight of the mechanical body of the robot, and the second moving part and the third moving part are simultaneously installed on the second guide part, which is conducive to reducing the number of guide rails and reducing the manufacturing cost.

[0080] Although the preferred embodiments of the present application have been described above with reference to the accompanying drawings, the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative and not restrictive. A person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and these all belong to the protection scope of the present application.

Claims

1. A parallel transfer robot with coaxial driving joints, comprising a truss structure (1), a guide part mounted on the truss structure (1), a plurality of moving parts, a plurality of connecting rods and an end execution part (10), characterized in that, the truss structure (1) has a through transfer channel in the middle, the guide part is a first guide part (2) and a second guide part (3), the first guide part (2) and the second guide part (3) are provided with linear guides, the first guide part (2) is mounted on the upper part of the truss structure (1), and the second guide part (3) is mounted on the side surface of the truss structure (1); the first moving part (4) is mounted on the linear guide of the first guide part (2), the second moving part (5) and the third moving part (6) are mounted on the linear guide of the second guide part (3) in front and back, and the first moving part (4), the second moving part (5) and the third moving part (6) are respectively provided with linear driving parts; the linear driving parts drive the first moving part (4) to move linearly along the linear guide of the first guide part (2), and drive the second moving part (5) and the third moving part (6) to move linearly along the linear guide of the second guide part (3); a first motion connecting rod (7), a second motion connecting rod (8), a third motion connecting rod (9) and the end execution part (10) are further provided in parallel connection, the first motion connecting rod (7) is provided with a front end rod connected with the end execution part (10) through a rotary joint a (14) mounted on the end execution part (10), and a rear end rod connected with the first moving part (4) through a rotary joint b (11) mounted on the first moving part (4); the second motion connecting rod (8) is provided with a front end rod connected with the end execution part (10) through a rotary joint c (15) mounted on the end execution part (10), and a rear end rod connected with the second moving part (5) through a rotary joint d (12) mounted on the second moving part (5); the third motion connecting rod (9) is provided with a front T-shaped shaft connected with the end execution part (10) through a rotary joint e (16) mounted on the end execution part (10), and a rear T-shaped shaft connected with the third moving part (6) through a rotary joint f (13) mounted on the third moving part (6); the rotation centers of the rotary joint a (14) and the rotary joint c (15) are vertically arranged, the rotation centers of the rotary joint c (15) and the rotary joint e (16) are arranged in parallel, the rotary joint c (15) is located at the far end of the second guide part relative to the rotary joint e (16), the first motion connecting rod (7) is provided with two parallel connecting rods, and the two connecting rods are respectively connected with the two ends of the rotary joint a (14), the second motion connecting rod (8) is provided with two parallel connecting rods, and the two connecting rods are respectively connected with the two ends of the rotary joint c (15); by adjusting the positions of the first moving part (4) on the first guide part (2) and the positions of the second moving part (5) and the third moving part (6) on the second guide part (3), the end execution part (10) is adjusted to move up, down, left and right, and forward and backward towards one side.

2. The parallel transfer robot with coaxial driving joints according to claim 1, characterized in that, The guide axes of the first guide part (2) and the second guide part (3) are parallel to each other.

3. The parallel transfer robot with coaxial driving joints according to claim 1, characterized in that, The first movement connecting rod (7) and the second movement connecting rod (8) are identical in structure, The first movement connecting rod (7) and the second movement connecting rod (8) comprise a rear end rod (19), a front end rod (23), an upper end rod (21), a lower end rod (25), a rotary pair a (20), a rotary pair b (22), a rotary pair c (24) and a rotary pair d (26), the upper end of the rear end rod (19) is connected with the rear end of the upper end rod (21) through the rotary pair a (20), the lower end of the rear end rod (19) is connected with the rear end of the lower end rod (25) through the rotary pair d (26), the upper end of the front end rod (23) is connected with the front end of the upper end rod (21) through the rotary pair b (22), and the lower end of the front end rod (23) is connected with the front end of the lower end rod (25) through the rotary pair c (24).

4. The parallel transfer robot with coaxial driving joints according to claim 1, characterized in that, The third movement connecting rod (9) comprises a front T-shaped shaft (33), a rotary pair e (33), a long connecting rod (31), a rotary pair f (30) and a rear T-shaped shaft (29), the front T-shaped shaft (33) is connected with the front end of the long connecting rod (31) through the rotary pair e (33), and the rear T-shaped shaft (29) is connected with the rear end of the long connecting rod (31) through the rotary pair f (30).

5. The parallel transfer robot with coaxial drive joint according to claim 3, wherein, The rear end rod (19), the front end rod (23), the upper end rod (21) and the lower end rod (25) constitute a parallelogram mechanism, the rear end rod (19) and the front end rod (23) are always parallel to each other, the upper end rod (21) and the lower end rod (25) are always parallel to each other, the bottom surface of the end effector (10) is kept parallel to the upper side of the truss structure (1) through the parallelogram mechanism of the first movement connecting rod (7), and the left and right side surfaces of the end effector (10) are kept parallel to the left and right side surfaces of the truss structure (1) through the parallelogram mechanism of the second movement connecting rod (8).

6. The parallel transfer robot with coaxial drive joint according to claim 1, wherein, The first movement part (4) and the second movement part (5) are identical in structure and comprise a mounting seat a (18) and a motor a (17), the motor a (17) is mounted on the mounting seat a (18), and the motor a (17) drives the mounting seat a (18) to move linearly along the guide part.

7. The parallel transfer robot with coaxial drive joint according to claim 1, wherein, The third movement part (6) comprises a mounting seat b (28) and a motor b (27), the motor b (27) is mounted on the mounting seat b (28), and the motor b (27) drives the mounting seat b (28) to move linearly along the guide part.

8. The parallel transfer robot with coaxial drive joint according to claim 6 or 7, characterized in that, The motor a (17) of the first movement part (4) and the second movement part (5) and the motor b (27) of the third movement part (6) are replaced by a hydraulic or pneumatic driving structure.

9. The parallel transfer robot with coaxial drive joint according to claim 1, wherein, The end effector is provided with a fixed end and a movement component mounting end, and the rotary joint a (14), the rotary joint c (15) and the rotary joint e (16) are arranged on the vertical plane of the fixed end.

10. A method for operating a parallel transfer robot according to claim 1, characterized by, A truss structure interface perpendicular to the guide directions of the first guide part (2) and the second guide part (3) is taken as a reference surface, The method comprises the following operation steps, 1) the end effector (10) moves forward and backward relative to the reference surface: The first moving part (4), the second moving part (5) and the third moving part (6) move along the corresponding guide part at the same speed, and the end execution part (10) is driven to move linearly by the first movement connecting rod (7), the second movement connecting rod (8) and the third movement connecting rod (9), that is, the truss structure (1) moves forward and backward; 2) The end execution part (10) moves left and right along the above reference plane: The first moving part (4) is stationary relative to the reference plane, the second moving part (5) moves forward along the second guide part (3), the second movement connecting rod (8) swings back and forth with a radius around the rotary joint d (12), the third moving part (6) moves backward along the second guide part (3) or the movement speed of the third moving part (6) along the second guide part (3) is less than that of the second moving part (5) along the second guide part (3), and the third movement connecting rod (9) swings forward with a radius around the rotary joint f (13); At this time, the end execution part (10) moves to the left side of the reference plane; The third moving part (6) moves forward along the second guide part (3), the third movement connecting rod (9) swings back and forth with a radius around the rotary joint f (13), the second moving part (5) moves backward along the second guide part (3) or the movement speed of the second moving part (5) along the second guide part (3) is less than that of the third moving part (6) along the second guide part (3), and the second movement connecting rod (8) swings forward with a radius around the rotary joint d (12); At this time, the end execution part (10) moves to the right side of the reference plane; 3) The end execution part (10) moves up and down along the above reference plane: The first moving part (4) moves forward along the first guide part (2), and the first movement connecting rod (7) swings back and forth around the rotary joint b (11); The second moving part (5) and the third moving part (6) are stationary relative to the plane or the movement speed along the second guide part (3) is less than that of the first moving part (4) along the first guide part (2), the first movement connecting rod (7) swings back and forth around the rotary joint b (11), and the end execution part (10) moves downward in the plane at this time; The first moving part (4) moves backward along the first guide part (2), and the first movement connecting rod (7) swings forward around the rotary joint b (11); The second moving part (5) and the third moving part (6) are stationary relative to the plane or the movement speed along the second guide part (3) is greater than that of the first moving part (4) along the first guide part (2), the first movement connecting rod (7) swings forward around the rotary joint b (11), and the end execution part (10) moves upward in the plane at this time; 4) The steps 1), 2) and 3) above are synchronous or asynchronous, and drive the end execution part (10) to move in the truss structure (1).

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