CN107363814A - Single input multi-freedom parallel connection becomes born of the same parents' platform - Google Patents

Abstract

The invention discloses a single-input multi-degree-of-freedom parallel transformation platform, which includes a parallel transformation platform body and a single-input transmission system. The parallel transformation platform body includes a static platform connected with a single-input transmission system. The first slide block, the second slide block and the third slide block which are arranged circumferentially and are movable, three motion branch chains and a moving platform, the first slide block, the second slide block and the third slide block respectively pass a movement The branch chain is connected with the moving platform, and the single input transmission system is connected with the first slider, the second slider and the third slider and is used to respectively control the first slider, the second slider and the third slider around the static platform axis to rotate. The single-input multi-degree-of-freedom parallel transformation platform of the present invention adopts a single-input transmission system, effectively utilizes the gear arrangement to carry out graded input to the transmission system, thereby performing different input conditions, reducing production costs, and making the parallel transformation platform easy Operational control.

Description

Single-input multi-degree-of-freedom parallel metamorphic platform

technical field

The invention belongs to the technical field of robots, in particular, the invention relates to a single-input multi-degree-of-freedom parallel metamorphic platform.

Background technique

In the prior art, the parallel mechanism has good rigidity and high precision, but its specific mechanism makes a single movement and cannot have different spatial postures. Now, most of the designs of parallel transformation platforms use multi-input systems. The design of these multi-input systems increases the design cost, reduces the strength of the mechanism, and the parallel transformation platform requires extremely small errors, and the greater the error of the multi-input system. , resulting in the parallel metamorphic platform being easy to operate and control, and low in efficiency.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention provides a single-input multi-degree-of-freedom parallel metamorphic platform, with the purpose of reducing costs and making the parallel metamorphic platform easy to operate and control.

In order to achieve the above object, the technical solution adopted by the present invention is: a single-input multi-degree-of-freedom parallel transformation platform, including a parallel transformation platform body and a single-input transmission system, and a parallel transformation platform body including a static platform connected to a single-input transmission system , on the static platform, the first slider, the second slider and the third slider, the three kinematic branch chains and the moving platform are set along the circumferential direction and are movable. The first slider, the second slider and the second slider The three sliders are respectively connected to the moving platform through a motion branch chain, and the single input transmission system is connected to the first slider, the second slider and the third slider and is used to control the first slider, the second slider and the third slider respectively. The third slider rotates around the axis of the static platform.

The static platform is circular, and the first slider, the second slider and the third slider are in sliding connection with the static platform.

The kinematic branch chain includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod connected in sequence, the second connecting rod is rotationally connected with the first connecting rod and the third connecting rod, and the third connecting rod The rod is sleeved on the fourth connecting rod and relative rotation and movement can occur between the two. The fourth connecting rod is connected to the moving platform in rotation, and the first connecting rods of each motion branch chain are respectively connected to the first slider , The second slide block and the third slide block are rotationally connected.

The single-input transmission system includes a spline shaft, a sliding gear sleeved on the spline shaft and rotating synchronously with the spline shaft, and a gear connected with the first slider, the second slider and the third slider The transmission mechanism and the gear control mechanism for controlling the sliding gear to move back and forth between the first preset position, the second preset position and the third preset position.

When the gear control mechanism moves the sliding gear to the first preset position, the sliding gear meshes with the gear transmission mechanism and transmits power to the first slider, the second slider and the third slider through the gear transmission mechanism. The slider is used to drive the first slider, the second slider and the third slider to rotate around the axis of the static platform; when the gear control mechanism moves the sliding gear to the second preset position, the sliding gear and the gear transmission mechanism Engage and transmit power to the first slider through the gear transmission mechanism to drive the first slider to rotate around the axis of the static platform; when the gear control mechanism moves the sliding gear to the third preset position, the sliding gear and the gear The transmission mechanism is engaged and the power is transmitted to the second slider and the third slider through the gear transmission mechanism to drive the second slider and the third slider to rotate around the axis of the static platform.

The gear transmission mechanism includes a first motion shaft connected to the first slider, a second motion shaft connected to the second slider, a third motion shaft connected to the third slider, a first The internal gear and three first movable gears located inside the first internal gear and meshed with the first internal gear, the first movable gear, the second movable shaft and the third movable shaft are respectively sleeved with a first movable gear, When the gear control mechanism moves the sliding gear to the first preset position, the sliding gear meshes with the three first moving gears.

The gear transmission mechanism also includes a second internal gear and a second movable gear located inside the second internal gear and meshed with the second internal gear, the second movable gear is sleeved on the first movement shaft and located on the Above the first moving gear, when the gear control mechanism moves the sliding gear to a second preset position, the sliding gear meshes with the second moving gear.

The gear transmission mechanism also includes a third internal gear and two third movable gears located inside the third internal gear and meshing with the third internal gear, and the two third movable gears are sleeved on the second movable shaft respectively and on the third moving shaft and above the first moving gear, when the gear control mechanism moves the sliding gear to the third preset position, the sliding gear and the two third moving gears engage.

The gear control mechanism includes a shift fork connected with the sliding gear, a swing rod connected with the shift fork in rotation, a control dial rotatably connected with the swing rod, a turntable shaft connected with the control dial, and a turntable connected with the turntable. The shaft is connected to the handle, and the axis of the turntable shaft is perpendicular to the axis of the spline shaft.

The single-input transmission system also includes a main box and a motor arranged in the main box and used to provide power to rotate the spline shaft, the spline shaft, the slip gear and the gear control The mechanism is arranged inside the main box.

The single-input multi-degree-of-freedom parallel transformation platform of the present invention adopts a single-input transmission system, effectively utilizes the gear arrangement to carry out graded input to the transmission system, thereby performing different input conditions, reducing production costs, and making the parallel transformation platform easy operational control. At the same time, using the singularity characteristics of the closed chain, supplemented by the common parallel branch chain with fixed degrees of freedom in the design, under the condition of ensuring the assembly, the design of the branch chain and parallel mechanism of the metamorphic mechanism is completed. By presetting the kinematic characteristics of the parallel metamorphic mechanism, various possible kinematic forms of multi-degree-of-freedom parallel branch chains are determined, and the rationality of the configuration design is judged by simulation.

Description of drawings

This manual includes the following drawings, the contents shown are:

Figure 1 is a schematic diagram of the assembly of the parallel metamorphic platform body and the single-input transmission system;

Fig. 2 is a structural schematic diagram of the body of the parallel metamorphic platform;

Fig. 3 is a structural schematic diagram of a gear control mechanism;

Fig. 4 is the structural representation of main shaft assembly;

Fig. 5 is a structural schematic diagram of the supporting part of the box;

1. Static platform; 2. First slider; 3. First connecting rod; 4. Second connecting rod; 5. Third connecting rod; 6. Fourth connecting rod; 7. Moving platform; 8. Connector; 9. The first moving shaft; 10. The second moving gear; 11. The first moving gear; 12. The third moving gear; 13. The second moving shaft; 14. The spline shaft; 15. The first internal gear; 16. The second internal gear; 17, the third internal gear; 18, the sliding gear; 19, the third motion shaft; 20, the shift fork; 21, the swing rod; 22, the cotter pin; 23, the main box; 24, the control Turntable; 25, turntable shaft; 26, handle; 27, bearing cover; 28, deep groove ball bearing; 29, thrust ball bearing; 30, side plate; 31, motor; 32, fixed frame; 33, coupling; 34. The second slider; 35. The upper cover; 36. The third slider; 37. The shift fork groove.

detailed description

The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

As shown in Figures 1 and 2, the present invention provides a single-input multi-degree-of-freedom parallel transformation platform, including a parallel transformation platform body and a single-input transmission system. The parallel metamorphic platform body includes a static platform 1 connected with a single input drive system, a first slide block 2, a second slide block 34 and a third slide block 36 which are arranged circumferentially and movable on the static platform 1, Three motion branch chains and the moving platform 7, the first slider 2, the second slider 34 and the third slider 36 are respectively connected to the moving platform 7 through a movement branch chain, and the moving platform 7 is used for installing working parts, and the single input The transmission system is connected with the first slider 2, the second slider 34 and the third slider 36 and is used to respectively control the first slider 2, the second slider 34 and the third slider 36 around the axis of the static platform 1 to rotate.

Specifically, as shown in FIG. 1 and FIG. 2 , the static platform 1 is an annular component, and the first slider 2 , the second slider 34 and the third slider 36 are in sliding connection with the static platform 1 . The static platform 1 is fixedly arranged and the axis of the static platform 1 is located in the vertical plane. The first slider 2 , the second slider 34 and the third slider 36 are sequentially arranged on the static platform 1 along the circumferential direction. When the first slider 2, the second slider 34 and the third slider 36 rotate around the axis of the static platform 1 on the static platform 1, they can drive the dynamic platform 7 to move through the kinematic branch chain, and the dynamic platform 7 is located on the static platform 1. above. The kinematic branch chain includes the first connecting rod 3, the second connecting rod 4, the third connecting rod 5 and the fourth connecting rod 6 connected in sequence, and the second connecting rod 4 is in rotation with the first connecting rod 3 and the third connecting rod 5. connection, the third connecting rod 5 is sleeved on the fourth connecting rod 6 and relative rotation and movement can occur between the two, the fourth connecting rod 6 is rotationally connected with the moving platform 7, and the first connecting rod 3 of each kinematic branch chain It is rotationally connected with the first slider 2, the second slider 34 and the third slider 36 respectively.

As shown in Figures 1 and 2, the end of the first connecting rod 3 is rotationally connected to one end of the second connecting rod 4, and the other end of the second connecting rod 4 is rotationally connected to one end of the third connecting rod 5, that is, the second The connecting rod 4 is hinged with the first connecting rod 3 and the third connecting rod 5 . The first connecting rod 3 of each kinematic branch chain is respectively connected with the first slide block 2, the second slide block 34 and the third slide block 36, and the first connecting rod 3 is connected with the first slide block 2 and the second slide block 34 and the third slide block 36 rotating joint axis and the axis of the static platform 1 are perpendicular. The other end of the third connecting rod 5 is sleeved on the fourth connecting rod 6, and the end of the fourth connecting rod 6 is connected with the moving platform 7 through a ball hinge, the fourth connecting rod 6 is a cylinder, and the third connecting rod 5 The end part has a circular through hole through which the fourth connecting rod 6 passes. The third connecting rod 5 and the fourth connecting rod 6 are connected by a cylinder pair, and the third connecting rod 5 can be relatively rotated and moved. The fourth connecting rod 6 of each motion branch chain is respectively connected to the moving platform 7 through a ball joint, and the three ball joints are distributed at three points on the moving platform 7, and the three ball joints are respectively located at a vertex of an equilateral triangle. The moving platform 7 is an equilateral triangle structure, and three ball hinges are at a sharp point of the moving platform 7 respectively.

The moving platform 7 is a multi-degree-of-freedom platform that can move and rotate along the first direction, the second direction, and the third direction. The third direction is the vertical direction, the first direction is the axis direction of the turntable shaft 25, and the second direction and The first direction and the second direction are orthogonal to each other. The static platform 1 guides the movement of the first slide block 2, the second slide block 34 and the third slide block 36, and the first slide block 2, the second slide block 34 and the third slide block 36 move simultaneously to provide motion The driving force for the platform 7 to rotate. When the first link 3, the second link 4, and the third link 5 of the kinematic branch chain are in a free state, the moving platform 7 has a certain spatial motion posture and position posture, which is called the first motion posture. When carrying out metamorphosis movement, the first connecting rod 3 and the second connecting rod 4 of the kinematic branch are collinear (the angle between the first connecting rod 3 and the second connecting rod 4 is 180 degrees at this moment), and the kinematic branch The remaining connecting rods of the chain are in a free state, and the moving platform 7 has a spatial position posture and a motion state different from the first motion posture, which is called the second motion posture. When the first link 3 of the kinematic branch coincides with the second link 4 (at this time, the angle between the first link 3 and the second link 4 is 0 degrees), the remaining links of the kinematic branch are at In the free state, the moving platform 7 has a spatial position posture and a motion state different from the first motion posture and the second motion posture, which is called the third motion posture. The mechanism of metamorphic motion is constituted by the topological combination of different forms of the three connecting rods of the motion branch chain, which further makes the motion changes of the moving platform 7 diverse.

As shown in Figures 1 to 5, the single-input transmission system includes a main case 23, a spline shaft 14, a sliding gear 18 sleeved on the spline shaft 14 and rotating synchronously with the spline shaft 14, and a first sliding gear. Block 2, the gear transmission mechanism that the second slide block 34 and the 3rd slide block 36 are connected and are used for controlling the sliding gear 18 to move back and forth between the first preset position, the second preset position and the third preset position Gear control mechanism. The top of the main box body 23 has an upper cover plate 35, the upper cover plate 35 is a rectangular flat plate arranged horizontally, the static platform 1 is installed on the upper cover plate 35 and the static platform 1 is fixedly connected with the upper cover plate 35, and the static platform 1 is parallel to the upper cover plate 35. It protrudes above the upper cover plate 35 , the axis of the static platform 1 is perpendicular to the upper cover plate 35 , and the parallel metamorphic platform body is located above the upper cover plate 35 . The main box 23 is a hollow rectangular box structure, the gear transmission mechanism, the sliding gear 18 and the spline shaft 14 are arranged in the hollow cavity of the main box 23, and the spline shaft 14 and the static platform 1 are arranged coaxially , The spline shaft 14 is rotatably arranged on the main box body 23 . There are external splines on the spline shaft 14, and the sliding gear 18 has internal splines. The sliding gear 18 is sleeved on the spline shaft 14 and the sliding gear 18 matches the spline shaft 14. The key shaft 14 can move up and down and the spline shaft 14 can drive the sliding gear 18 to rotate synchronously when the spline shaft 14 rotates. When the gear control mechanism moves the sliding gear 18 to the first preset position, the sliding gear 18 is engaged with the gear transmission mechanism and transmits power to the first slider 2, the second slider 34 and the third slider 34 through the gear transmission mechanism. The slide block 36 is to drive the first slide block 2, the second slide block 34 and the third slide block 36 to rotate around the axis of the static platform 1, and the first slide block 2, the second slide block 34 and the third slide block 36 are synchronized sports. When the gear control mechanism moves the sliding gear 18 to the second preset position, the sliding gear 18 meshes with the gear transmission mechanism and transmits power to the first slider 2 through the gear transmission mechanism to drive the first slider 2 to rotate The axis of the platform 1 rotates, the second slider 34 and the third slider 36 remain stationary. When the gear control mechanism moves the sliding gear 18 to the third preset position, the sliding gear 18 is engaged with the gear transmission mechanism and transmits power to the second sliding block 34 and the third sliding block 36 through the gear transmission mechanism to drive the second sliding block 34 and the third sliding block 36. The second slider 34 and the third slider 36 rotate around the axis of the static platform 1, and the second slider 34 and the third slider 36 move synchronously, and the first slider 2 remains still. The first preset position is located below the second preset position, and the second preset position is located below the third preset position.

As shown in Fig. 1, preferably, the gear transmission mechanism includes a first motion shaft 9 connected with the first slider 2, a second motion shaft 13 connected with the second slider 34, and a shaft connected with the third slider 36. The third motion shaft 19, the first internal gear 15 and the three first movable gears 11 that are located inside the first internal gear 15 and mesh with the first internal gear 15, the first motion shaft 9, the second motion shaft 13 and the A first moving gear 11 is sheathed on the three moving shafts 19 respectively. When the gear control mechanism moves the sliding gear 18 to the first preset position, the sliding gear 18 meshes with the three first moving gears 11 . The first motion shaft 9 , the second motion shaft 13 and the third motion shaft 19 are cylinders, and the axes of the first motion shaft 9 , the second motion shaft 13 and the third motion shaft 19 are parallel to the axis of the spline shaft 14 . The first internal gear 15 is fixedly arranged in the hollow cavity of the main box body 23, the first movable gear 11 is a cylindrical gear, the first internal gear 15 has an internal ring gear meshed with the first movable gear 11, the first internal gear 15 It is arranged coaxially with the spline shaft 14 , and the spline shaft 14 passes through the first internal gear 15 . The three first moving gears 11 are respectively vacantly sleeved on the first moving shaft 9 , the second moving shaft 13 and the third moving shaft 19 and keep meshing with the ring gear of the first internal gear 15 , and are sleeved on the first moving shaft. The first moving gear 11 on the shaft 9 can rotate relative to the first moving shaft 9 and only can rotate relative to the first moving shaft 9, and the first moving gear 11 sleeved on the second moving shaft 13 can rotate relative to the first moving shaft 9. The second motion shaft 13 rotates and can only rotate relative to the second motion shaft 13, and the first movable gear 11 sleeved on the third motion shaft 19 can rotate relative to the third motion shaft 19 and can only rotate relative to the second motion shaft 13. The third movement axis 19 rotates. After the sliding gear 18 moves to the first preset position, the sliding gear 18 meshes with the three first moving gears 11 and the three first moving gears 11 are distributed around the sliding gear 18. When the spline shaft 14 drives When the sliding gear 18 rotates, when the three first moving gears 11 mesh with the first internal gear 15, the three first moving gears 11 drive the first moving shaft 9, the second moving shaft 13 and the third moving shaft 19 rotates around the axis of the sliding gear 18, the first motion shaft 9, the second motion shaft 13 and the third motion shaft 19 drive the first slider 2, the second slider 34 and the third slider 36 respectively at the same time Rotate around the axis of the static platform 1 on the static platform 1 to make the moving platform 7 perform corresponding actions.

As shown in Figure 1, the first movement shaft 9 is fixedly connected with the first slider 2 through the connecting piece 8, the first slider 2 is located below the first movement shaft 9, and the connecting piece 8 connects the first slider 2 and the first slider 2. The motion shaft 9 is connected as a whole. The second moving shaft 13 is fixedly connected with the second sliding block 34 through the connecting piece 8, the second sliding block 34 is located below the second moving shaft 13, and the connecting piece 8 connects the second sliding block 34 and the second moving shaft 13 as a whole . The third moving shaft 19 is fixedly connected with the third sliding block 36 through the connecting piece 8, the third sliding block 36 is located below the third moving shaft 19, and the connecting piece 8 connects the third sliding block 36 and the third moving shaft 19 as a whole .

As shown in Figure 1, preferably, the gear transmission mechanism also includes a second internal gear 16 and a second movable gear 10 located inside the second internal gear 16 and meshed with the second internal gear 16, the second movable gear 10 sets Located on the first moving shaft 9 and above the first moving gear 11 , when the gear control mechanism moves the sliding gear 18 to a second preset position, the sliding gear 18 meshes with the second moving gear 10 . The second internal gear 16 is fixedly arranged in the hollow cavity of the main casing 23 and the second internal gear 16 is positioned above the first internal gear 15, the second movable gear 10 is a cylindrical gear, and the second internal gear 16 has a The inner ring gear meshed with the movable gear 10, the second inner gear 16 and the spline shaft 14 are arranged coaxially, and the spline shaft 14 passes through the second inner gear 16. The second movable gear 10 is sleeved on the first moving shaft 9 and keeps meshed with the ring gear of the second internal gear 16. The second moving gear 10 sleeved on the first moving shaft 9 can move relative to the first The shaft 9 rotates and can only rotate relative to the first moving shaft 9 , and the vertical distance between the second moving gear 10 and the first moving gear 11 remains unchanged. After the sliding gear 18 moves to the second preset position, the sliding gear 18 meshes with the second moving gear 10, and when the spline shaft 14 drives the sliding gear 18 to rotate, the second moving gear 10 and the second internal gear 16 meshing, the second moving gear 10 drives the first moving shaft 9 to rotate around the axis of the sliding gear 18, and the first moving shaft 9 simultaneously drives the first slider 2 to circle the static platform 1 on the static platform 1 The axis rotates, and the second motion shaft 13 and the third motion shaft 19 as well as the second slider 34 and the third slider 36 remain stationary, so that the movable platform 7 performs corresponding actions.

As shown in Figure 1, preferably, the gear transmission mechanism further includes a third internal gear 17 and two third movable gears 12 located inside the third internal gear 17 and meshed with the third internal gear 17, the two third The moving gear 12 is respectively sleeved on the second moving shaft 13 and the third moving shaft 19 and is located above the first moving gear 11. When the gear control mechanism moves the sliding gear 18 to the third preset position, the sliding gear 18 meshes with two third moving gears 12. The third internal gear 17 is fixedly arranged in the hollow cavity of the main box body 23 and the third internal gear 17 is located above the second internal gear 16, the third movable gear 12 is a cylindrical gear, and the third internal gear 17 has the same structure as the third internal gear. The inner ring gear meshed with the movable gear 12, the third inner gear 17 and the spline shaft 14 are arranged coaxially, and the spline shaft 14 passes through the third inner gear 17. The two third moving gears 12 are respectively vacantly sleeved on the second moving shaft 13 and the third moving shaft 19, and the two third moving gears 12 keep meshing with the ring gear of the third internal gear 17, and are sleeved on the second moving shaft 13 and the third moving shaft 19. The third moving gear 12 on the moving shaft 13 can rotate relative to the second moving shaft 13 and only can rotate relative to the second moving shaft 13, and the third moving gear 12 sleeved on the third moving shaft 19 can relatively Rotating on the third moving shaft 19 and only being able to rotate relative to the third moving shaft 19 , the vertical distance between the third moving gear 12 and the first moving gear 11 remains unchanged. After the sliding gear 18 moved to the third preset position, the sliding gear 18 meshed with the two third moving gears 12, and when the spline shaft 14 drove the sliding gear 18 to rotate, the third moving gear 12 and the third When the internal gear 17 is engaged, the two third moving gears 12 respectively drive the second moving shaft 13 and the third moving shaft 19 to rotate around the axis of the sliding gear 18, and the second moving shaft 13 and the third moving shaft 19 And simultaneously drive the second slide block 34 and the third slide block 36 to rotate around the axis of the static platform 1 on the static platform 1, the first moving shaft 9 and the first slide block 2 then remain motionless, so that the moving platform 7 performs corresponding action.

The gear transmission mechanism of the above-mentioned structure cooperates with the sliding gear 18, and through the position change of the sliding gear 18 on the spline shaft 14, the first slider 2, the second slider 34 and the The motion state of the third slider 36 is further applied to the parallel metamorphic platform by a single input, so that the parallel platform can obtain different motion postures. For the parallel metamorphic mechanism motion platform, more inputs are required. In order to reduce costs, the designed transmission system effectively uses the arrangement of gears to carry out staged input to the transmission system, thereby performing different input conditions and reducing production costs. The method of shifting gears is used to achieve control.

As shown in Figures 1 and 3, the gear control mechanism includes a shift fork 20, a swing rod 21 that is rotatably connected to the shift fork 20, a control dial 24 that is rotatably connected to the swing rod 21 and is rotatably arranged, and a control dial 24 that is connected to the control dial 24. The turntable shaft 25 and the handle 26 connected with the turntable shaft 25 , the axis of the turntable shaft 25 is perpendicular to the axis of the spline shaft 14 . The turntable shaft 25 is rotatably arranged on the main box body 23, the turntable shaft 25 is a cylinder, the control turntable 24 is a disc-shaped member, the control turntable 24 is fixedly connected with one end of the turntable shaft 25 and the control turntable 24 and the turntable shaft 25 For coaxial arrangement, the handle 26 is fixedly connected with the other end of the turntable shaft 25 and the handle 26 is located outside the main box body 23, which is convenient for the operator to pull the handle 26 to make the turntable shaft 25 rotate. The control dial 24 and the swing rod 21 are located in the hollow cavity of the main box body 23. One end of the swing rod 21 is rotatably connected to the control dial 24, and the other end of the swing rod 21 is rotatably connected to the shift fork 20. The swing rod 21 is located on the spline shaft. 14 and the control dial 24, the axis of the rotation connection point of the swing rod 21 and the control dial 24 is parallel to the axis of the control dial 24, the swing rod 21 is eccentrically arranged on the control dial 24, and the swing rod 21 and the shift fork 20 The axis of the rotational connection point is also parallel to the axis of the control dial 24. The shift fork 20 is inserted into the shift fork groove 37 provided on the sliding gear 18 , and the shift fork groove 37 is an annular groove provided on the slip gear 18 . Shift fork 20 is a semicircular fork-like structure, and its inner contour line is semicircular, and its radius is equal to the radius of shift fork groove 37, and the inner contour line of shift fork 20 falls in shift fork groove 37, makes shift fork 20 It can drive the sliding gear 18 to move linearly on the spline shaft 14 along the axial direction of the spline shaft 14 . When the turntable shaft 25 drives the control turntable 24 to rotate, the control turntable 24 drives the shift fork 20 to move the sliding gear 18 through the fork 21 . When the parallel metamorphic platform body is working, by rotating the handle 26, the shift fork 20 is controlled to be displaced in the third direction, and then the shift fork 20 drives the sliding gear 18 to move on the spline shaft 14 along the axial direction of the spline shaft 14. Linear movement makes the sliding gear 18 be at the first preset position, the second preset position or the third preset position, and then provides power for the parallel metamorphic platform body.

The gear control mechanism adopting the above structure is a swing type control mechanism, and the operation is simple, convenient, effective and fast.

As shown in FIG. 4 , the single-input transmission system further includes a motor 31 disposed in the hollow cavity of the main casing 23 and used to provide power to rotate the spline shaft 14 . The connection between the spline shaft 14 and the main casing 23 is realized by components such as deep groove ball bearings 28, thrust ball bearings 29, bearing end caps 27, and the position of the spline shaft 14 remains stationary in the vertical direction. The motor 31 is fixedly installed on the fixed frame 32, and the fixed frame 32 is fixedly connected with the main box body 23. The motor 31 is located under the spline shaft 14 and the motor 31 is connected with the lower end of the spline shaft 14 through a coupling 33. After the motor 31 runs, the spline shaft 14 is driven to rotate through the shaft coupling 33, and the spline shaft 14 drives the slip gear 18 to rotate synchronously.

The present invention has been exemplarily described above with reference to the accompanying drawings. Apparently, the specific implementation of the present invention is not limited by the above methods. As long as various insubstantial improvements are made using the method concept and technical solution of the present invention; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, all within the protection scope of the present invention within.

Claims (10)

1. single input multi-freedom parallel connection becomes born of the same parents' platform, it is characterised in that：Become born of the same parents' platform body and single input transmission including parallel connection System, parallel connection becomes the silent flatform that born of the same parents platform body includes being connected with single input transmission system, on silent flatform to be circumferentially arranged And be moveable first sliding block, the second sliding block and the 3rd sliding block, three movement branched chains and moving platform, the first sliding block, second Sliding block and the 3rd sliding block are connected by a movement branched chain with moving platform respectively, single input transmission system and the first sliding block, second Sliding block and the 3rd sliding block are connected and for controlling the first sliding block, the second sliding block and the 3rd sliding block to enter around the axis of silent flatform respectively Row rotation.

2. single input multi-freedom parallel connection according to claim 1 becomes born of the same parents' platform, it is characterised in that：The silent flatform is circle Annular, first sliding block, the second sliding block and the 3rd sliding block and silent flatform are to be slidably connected.

3. single input multi-freedom parallel connection according to claim 1 or 2 becomes born of the same parents' platform, it is characterised in that：The motion branch Chain includes first connecting rod, second connecting rod, third connecting rod and the fourth link being sequentially connected, second connecting rod and first connecting rod and the 3rd Connecting rod is rotation connection, and third connecting rod is sheathed in fourth link and can relatively rotate and move between the two, the 4th Connecting rod and the moving platform are rotatablely connected, the first connecting rod of each movement branched chain respectively with first sliding block, the second sliding block and 3rd sliding block is rotation connection.

4. single input multi-freedom parallel connection according to claim 1 or 2 becomes born of the same parents' platform, it is characterised in that：The single input Transmission system include splined shaft, be sheathed on splined shaft and the shifting slide gear in splined shaft synchronous axial system, with first sliding block, The gear drive of second sliding block and the connection of the 3rd sliding block and for controlling shifting slide gear in the first predeterminated position, second pre- If the gear control mechanism moved back and forth between position and the 3rd predeterminated position.

5. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：When the gear controls When mechanism makes the shifting slide gear be moved to the first predeterminated position, shifting slide gear is engaged with gear drive and passed by gear Power is transferred to the first sliding block, the second sliding block and the 3rd sliding block to drive the first sliding block, the second sliding block and the 3rd to slide by motivation structure Block is rotated around the axis of silent flatform；When gear control mechanism makes shifting slide gear be moved to the second predeterminated position, tooth is slid Wheel engages with gear drive and power is transferred into the first sliding block by gear drive to drive the first sliding block around quiet The axis of platform is rotated；When gear control mechanism makes shifting slide gear be moved to three predeterminated positions, shifting slide gear and tooth Wheel drive mechanism engages and power is transferred into the second sliding block and the 3rd sliding block to drive the second sliding block by gear drive Rotated with the 3rd sliding block around the axis of silent flatform.

6. the single input multi-freedom parallel connection according to claim 4 or 5 becomes born of the same parents' platform, it is characterised in that：The gear passes Motivation structure includes the first kinematic axis being connected with first sliding block, the second motion shaft being connected with second sliding block and institute State the third motion shaft of the 3rd sliding block connection, the first internal gear and engaged positioned at the inside of the first internal gear and with the first internal gear Three the first moving gears, be arranged with first moving gear respectively on the first kinematic axis, second motion shaft and third motion shaft, When the gear control mechanism makes the shifting slide gear be moved to the first predeterminated position, shifting slide gear and three the first moving gears Engagement.

7. single input multi-freedom parallel connection according to claim 6 becomes born of the same parents' platform, it is characterised in that：The gear drive machine Structure also includes secondary annulus and moved positioned at the inside of secondary annulus and the second moving gear for engage with secondary annulus, second Geared sleeve on first kinematic axis and positioned at the top of first moving gear, when the gear control mechanism make it is described When shifting slide gear is moved to the second predeterminated position, shifting slide gear engages with the second moving gear.

8. single input multi-freedom parallel connection according to claim 7 becomes born of the same parents' platform, it is characterised in that：The gear drive machine Structure also includes the 3rd internal gear and positioned at the inside of the 3rd internal gear and two the 3rd moving gear being engaged with the 3rd internal gear, and two Individual 3rd moving gear is sheathed on the second motion shaft and the third motion shaft and positioned at first moving gear respectively Top, when the gear control mechanism makes the shifting slide gear be moved to three predeterminated positions, shifting slide gear and two the 3rd Moving gear engages.

9. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：The gear control machine Structure include be connected with the shifting slide gear shift fork, with shift fork rotation connection swing rod, with swing rod rotation connection and be it is rotatable The control rotating disk of setting, the handle with the turntable shaft that is connected of control rotating disk and with rotating disk axis connection, the axis of turntable shaft with it is described The axis perpendicular of splined shaft.

10. single input multi-freedom parallel connection according to claim 4 becomes born of the same parents' platform, it is characterised in that：The single input passes Dynamic system also includes main box and is arranged in main box and makes the motor of the power of the splined shaft rotation for offer, described Splined shaft, the shifting slide gear and the gear control mechanism are arranged at the inside of main box.