Nine-shaft parallel serial robot

The invention relates to a nine-shaft parallel serial robot which comprises a six-shaft body and further comprises a three-shaft body. The six-shaft body is a six-freedom-degree robot formed by six shafts and a connected servo motor. The three-shaft body is formed by three shafts, a connected servo motor and three pairs of mechanical arms. The six-shaft body and the three-shaft body are connectedthrough bolts by means of a middle flange and a top plate. The six-shaft body comprises a base, a rotating table, a large arm, a small arm, a first rotating body and a second rotating body, wherein the first rotating body and the second rotating body are located at the front end of the small arm. The rotating table is driven by a first shaft motor to rotate around the base. The large arm is drivenby a second shaft motor. A third shaft motor at the front end of the large arm drives the small arm to rotate. A fourth shaft motor and a fifth shaft motor drives the first rotating body and the second rotating body correspon