CN102615641A - Five-degree-of-freedom parallel power head - Google Patents

Abstract

The invention discloses a five-degree-of-freedom parallel power head, which includes a fixed frame, a central opening in the center of the base of the fixed frame, and a first hinge with two rotational degrees of freedom is arranged in the central opening; The first hinge is connected with the driven branch chain through the moving pair, and the first, second and third kinematic chains are uniformly distributed around the driven branch chain, and the first, second and third kinematic chains are fixed Connected to the fixed frame, a moving platform is arranged below the fixed frame, and the moving platform includes two parts: an upper platform and a lower platform; the upper platform and the lower platform are connected by bearing rotation; the The lower end of the driven branch chain is fixedly connected with the upper platform; the lower end of the first kinematic chain is rotationally connected with the upper platform through a fourth hinge with three rotational degrees of freedom, and the second and third kinematic chains are connected with the same connection structure Connected to the upper platform. The invention has fast response speed, good dynamic performance and high stiffness-to-mass ratio.

Description

A five-degree-of-freedom parallel power head

technical field

The invention relates to a robot, in particular to a parallel robot capable of realizing the five-coordinate operation function.

Background technique

According to patents US4732525 and ZL200510015095.5, it is known that the existing multi-coordinate manipulators are generally implemented in the form of a hybrid structure with a few degrees of freedom parallel mechanism supplemented by a positioning head. The multi-coordinate processing capability includes the position positioning of the moving platform and the attitude positioning of the end effector. Among them, the position positioning of the moving platform of the mechanism is realized by a parallel mechanism with few degrees of freedom, which is mainly performed by adjusting the servo motor installed on the active branch chain; the attitude positioning of the end effector is realized by the positioning head (such as A/C double swing head), It is performed by adjusting a servo motor mounted on a double oscillating head.

The shortcomings of this type of manipulator are: the positioning head is equipped with a servo motor and a reducer, etc., and the weight is too large, which affects the response ability and dynamic performance of the mechanism. The rigidity and mass of the mechanism are relatively small, and the overall rigidity is difficult to guarantee.

Contents of the invention

The invention provides a five-degree-of-freedom parallel power head for solving the technical problems in the known technology. The power head has fast response speed, good dynamic performance and high stiffness-to-mass ratio.

The technical solution adopted by the present invention to solve the technical problems in the known technology is: a five-degree-of-freedom parallel power head, including a fixing frame, a central opening in the center of the fixing frame base, and a There is a first hinge with two rotational degrees of freedom; said first hinge is connected to a driven branch chain through a moving pair, and first, second and third kinematic chains are uniformly distributed around said driven branch chain , the first, second and third kinematic chains are fixed on the fixed frame, the first kinematic chain includes the first active branch chain, the second kinematic chain includes the second and the third active branch chain, the first Three kinematic chains include the fourth and fifth active branch chains, and the first, second, third, fourth and fifth active branch chains have the same structure;

Each of the active branch chains includes a wall plate fixedly connected to the fixed frame, and a servo motor is installed on the top of the wall plate, and the servo motor drives a first ball screw connected to the first ball screw. The first nut, the first nut is fixed in the connection block, the connection block is slidably connected to the guide rail, the guide rail is fixed on the wall plate, and the connection block passes through the second rotation degree of freedom. The three hinges are connected to the upper end of the driven rod; a moving platform is arranged below the fixed frame, and the moving platform includes two parts: an upper platform and a lower platform; the upper platform and the lower platform are connected through bearing rotation; The lower end of the driven branch chain is fixedly connected to the upper platform; the lower end of the first active branch chain is connected to the upper platform through a fourth hinge with three rotational degrees of freedom; the lower end of the second active branch chain is connected by A fifth hinge with one degree of freedom of rotation is hinged to a rotation shaft of the first cross shaft, and the lower end of the third active branch chain is hinged to a rotation shaft of the second cross shaft through a sixth hinge with one degree of freedom of rotation. The other rotating shafts of the first cross shaft and the second cross shaft are respectively rotatably connected in the first swing shaft, and the first swing shaft is fixedly connected to the first hinge shaft, and the first hinge shaft is rotatably connected to the first hinge shaft. The first hinge seat is fixedly connected to the upper platform; the lower end of the fourth active branch chain is hinged to a rotating shaft of the third cross shaft through a seventh hinge with a rotational degree of freedom, and the first The lower ends of the five active branch chains are hinged to one rotation shaft of the fourth cross shaft through the eighth hinge with one rotational degree of freedom, and the other rotation shafts of the third cross shaft and the fourth cross shaft are respectively rotatably connected in the second balance shaft , the second swing shaft is fixedly connected to the second hinge shaft, the second hinge shaft is rotatably connected to the second hinge seat, and the second hinge seat is fixedly connected to the upper platform; the first hinge shaft One end of the first driving bevel gear is connected with the first driven bevel gear, and the first driven bevel gear is meshed with the first driven bevel gear, and the first driven bevel gear is fixed on the first rotating shaft, and the first rotating shaft is rotatably connected to the On the upper platform, a first driving pulley is fixedly connected to the first rotating shaft, the first driving pulley is connected with the first driven pulley through a belt, and the first driven pulley is fixed on the second On the three rotating shafts, the third rotating shaft is arranged on the lower platform; one end of the second hinge shaft is connected with the second driving bevel gear, and the second driving bevel gear is meshed with a second driven bevel gear, and the first driven bevel gear is meshed with the second driven bevel gear. The two driven bevel gears are fixed on the second rotating shaft, and the second rotating shaft is rotatably connected to the upper platform, and the second driving pulley is fixedly connected to the second rotating shaft, and the second driving pulley passes Connected with the second driven pulley, the second driven pulley is fixed on the fourth rotating shaft, the lower end of the fourth rotating shaft penetrates the third rotating shaft into the lower platform, and is fixedly connected with the third driving bevel gear , the third driven bevel gear meshes with a third driven bevel gear, the third driven bevel gear is fixedly connected to a fifth rotating shaft, and the fifth rotating shaft is rotatably connected to the lower platform.

The first hinge includes an outer ring and an inner ring, the inner ring is provided with an inner ring rotating shaft, the outer ring is provided with an outer ring rotating shaft, and the outer ring is rotatably connected to the fixed frame through the outer ring rotating shaft, and the The inner ring is rotationally connected with the outer ring through the inner ring rotating shaft, and the outer ring rotating shaft and the inner ring rotating shaft are intersected.

The first driving bevel gear is arranged at the inner end of the first hinge shaft, and the second driving bevel gear is arranged at the inner end of the second hinge shaft.

The advantages and positive effects of the present invention are: the mechanism can realize the five-coordinate machining capability, in which there is not only one translational two-rotation positioning movement but also the attitude adjustment around the A and/or C axis, which can effectively reduce the mass of the positioning head and realize the module structure design. The kinematic chain adopts the form of double active branch chains to improve the overall stiffness of the mechanism, while ensuring good dynamic performance of the mechanism, high stiffness-to-mass ratio, high positioning accuracy and repeat positioning accuracy, and advantageous feed direction.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is a schematic structural view of an active branched chain in the present invention;

Fig. 4 is the exterior view of the middle moving platform of the present invention;

Fig. 5 is a schematic diagram of the internal structure of the intermediate moving platform of the present invention.

Detailed ways

In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

Please refer to Figures 1 to 5, a five-degree-of-freedom parallel power head, consisting of a fixed frame 1, the first, second, third, fourth, and fifth active branch chains 2, 3, 4, 5, 6, from Moving branch chain 7, moving platform 8 constitutes. There is a central opening in the center of the fixed frame 1 , and a first hinge 9 with two rotational degrees of freedom is arranged in the central opening, and the first hinge 9 is connected with the driven branch chain 7 through a moving pair 10 . In this embodiment, the first hinge 9 includes an outer ring and an inner ring, the inner ring is provided with an inner ring shaft, the outer ring is provided with an outer ring shaft, and the outer ring is connected to the outer ring through the outer ring shaft. The fixed frame is rotatably connected, the inner ring is rotatably connected with the outer ring through the inner ring rotating shaft, and the outer ring rotating shaft and the inner ring rotating shaft are intersected; the inner ring is connected with the driven branch chain 7 through the moving pair 10 . The first active branch chain 2 is the first kinematic chain, the second and third active branch chains 3 and 4 are the second kinematic chain, the fourth and fifth active branch chains 5 and 6 are the third kinematic chain, and the The first, second and third kinematic chains are spatially symmetrically distributed on the fixed frame relative to the driven branch chain. The first, second, third, fourth, and fifth active branch chains 2, 3, 4, 5, and 6 have the same structural form, and each of the active branch chains includes a wall fixedly connected to the fixing frame plate 11, a servo motor 12 is installed on the top of the wall plate, the servo motor drives a first ball screw 13, and a first nut is connected to the first ball screw 13, and the first nut is fixed on In the connection block 15, the connection block 15 is slidably connected on the guide rail 14, and the guide rail 14 is fixed on the wall plate 11, and the connection block 15 is connected with the driven by the third hinge 16 having two rotational degrees of freedom. The upper ends of the rods 17 are connected, and the third hinge 16 can adopt structural forms such as a Hooke hinge.

A moving platform 8 is arranged below the fixed frame 1, including an upper platform 18 and a lower platform 19, and the upper platform 18 and the lower platform 19 are rotationally connected by bearings. The lower end of the driven branch chain 7 is fixedly connected with the upper platform 18 . The first active branch chain 2 is rotationally connected with the upper platform through the fourth hinge 20, and the fourth hinge has three rotational degrees of freedom, which can be in the form of a Hooke's hinge supplemented with a rotation axis, a ball hinge, and the like. The lower end of the second active branch chain 3 is hinged to a rotating shaft of the first cross shaft 23 through a fifth hinge 21 having a rotational degree of freedom, and the lower end of the third active branch chain 4 is hinged through a fifth hinge 21 having a rotational degree of freedom. The six hinges 22 are hinged to one rotating shaft of the second cross shaft 24, and the other rotating shafts of the first cross shaft 23 and the second cross shaft 24 are respectively rotatably connected in the first swing shaft 25, and the first swing shaft 25 is fixed Connected to the first hinge shaft 26, the first hinge shaft 26 is rotatably connected to the first hinge seat 27, and the first hinge seat 27 is fixedly connected to the upper platform 18;

The connection between the fourth and fifth active branch chains and the upper platform is the same as the connection between the third and fourth active branch chains and the upper platform. The lower end of the fourth active branch chain 5 is hinged to a rotating shaft of the third cross shaft 30 through the seventh hinge 28 having a rotational degree of freedom, and the lower end of the fifth active branch chain 6 is hinged through the seventh hinge 28 having a rotational degree of freedom. Eight hinges 29 are hinged to one rotating shaft of the fourth cross shaft 31, and the other rotating shafts of the third cross shaft 30 and the fourth cross shaft 31 are respectively rotatably connected in the second swing shaft 32, and the second swing shaft 32 is fixed Connected to the second hinge shaft 33, the second hinge shaft 33 is rotatably connected to the second hinge base 34, and the second hinge base 34 is fixedly connected to the upper platform 18; the first and second hinge shafts One end of 26,33 is respectively connected with the first and second driving bevel gears 37,38 arranged in the upper platform, the first driving bevel gear 37 is meshed with a first driven bevel gear 39, and the first driven bevel gear 39 is engaged with the first driven bevel gear 39. The movable bevel gear 39 is fixed on the first rotating shaft 35, and the first rotating shaft 35 is rotatably connected to the upper platform 18, and the first driving pulley 40 is fixedly connected to the first rotating shaft 35. Pulley 40 is connected with first driven pulley 42 by belt, and described first driven pulley 42 is fixed on the 3rd rotating shaft 41, and described 3rd rotating shaft 41 is arranged on the lower platform 19; One end of 33 is connected with the second driving bevel gear 38, and the second driven bevel gear 38 is meshed with a second driven bevel gear 43, and the second driven bevel gear 43 is fixed on the second rotating shaft 36. The second rotating shaft 36 is rotatably connected to the upper platform 18, and the second rotating shaft 36 is fixedly connected with a second driving pulley 44, and the second driving pulley 44 is connected with the second driven pulley 46 through a belt. , the second driven pulley 46 is fixed on the fourth rotating shaft 45, the lower end of the fourth rotating shaft 45 penetrates the third rotating shaft into the lower platform, and is fixedly connected with the third driving bevel gear 47, the first The third driven bevel gear 49 is meshed with the three driving bevel gears 47, and the third driven bevel gear is fixedly connected to the fifth rotating shaft 48, and the fifth rotating shaft is rotatably connected to the lower platform.

Below in conjunction with each figure, the present invention is further described:

As shown in Figures 1 and 2, a five-degree-of-freedom parallel power head of the present invention consists of a fixed frame 1, a moving platform 8, and the first, second, third, fourth, and fifth active branch chains 2, 3 , 4,5,6, driven branch chain 7 forms. Wherein, the first active branch chain 2 is the first kinematic chain, the second active branch chain 3 and the third active branch chain 4 form the second kinematic chain, the fourth active branch chain 5 and the fifth active branch chain 6 form the third movement chain chain. The driven branch chain 7 is located in the central opening of the fixed frame 1 , and the first, second and third kinematic chains are spatially symmetrically arranged on the fixed frame with respect to the driven branch chain 7 . A first hinge 9 with two rotational degrees of freedom is connected in the central opening, and the first hinge 9 is connected with the driven branch chain 7 through a moving pair 10 .

As shown in Figure 3, each active branch chain includes a wall plate 11, a servo motor 12, a first lead screw nut structure, a second guide rail slider structure, a connecting block 15, a third hinge 16 and a driven rod 17 . The wall plate 11 is fixedly connected on the fixed frame, the servo motor 12 is installed at one end of the wall plate, the output shaft of the servo motor is connected with the first ball screw 13 through a coupling, and the second guide rail is arranged on the wall plate 14. The second slider and the first nut are fixedly installed on the connecting block 15, then the first ball screw 13 is screwed to the first nut to form the first screw nut structure, and the second guide rail 14 is slidably connected to the second slider to form The structure of the second rail slider. The connecting block 15 is connected with the driven rod 17 through a third hinge 16, the third hinge 16 has two degrees of freedom of rotation, and can adopt a structure such as a Hooke hinge. In this embodiment, the movement of the driven rod driven by the connecting block adopts the driving mode of servo motor-reducer-ball screw, but hydraulic, pneumatic and other structures can also be used as the driving mode.

As shown in FIG. 4 , the moving platform 8 includes two parts, an upper platform 18 and a lower platform 19 , and the upper platform 18 and the lower platform 19 are rotationally connected through bearings. The lower end of the driven branch chain 7 is fixedly connected to the upper platform 18, the first active branch chain 2 is connected to the upper platform 18 through a fourth hinge 20, and the fourth hinge 20 has three rotational degrees of freedom, Hooke hinges can be used supplemented by rotation shafts, ball hinges and other forms. The lower end of the second active branch chain 3 is hinged to a rotating shaft of the first cross shaft 23 through a fifth hinge 21 having a rotational degree of freedom, and the lower end of the third active branch chain 4 is hinged through a fifth hinge 21 having a rotational degree of freedom. The six hinges 22 are hinged to one rotating shaft of the second cross shaft 24, and the other rotating shafts of the first cross shaft 23 and the second cross shaft 24 are respectively rotatably connected in the first swing shaft 25, and the first swing shaft 25 is fixed Connected to the first hinge shaft 26 , the first hinge shaft 26 is rotatably connected to the first hinge base 27 , and the first hinge base 27 is fixedly connected to the upper platform 18 .

As shown in FIG. 5 , the connection between the fourth and fifth active branch chains 5 , 6 and the upper platform 18 is the same as the connection between the second and third active branch chains 3 , 4 and the upper platform 18 . The lower end of the fourth active branch chain 5 is hinged to a rotating shaft of the third cross shaft 30 through the seventh hinge 28 having a rotational degree of freedom, and the lower end of the fifth active branch chain 6 is hinged through the seventh hinge 28 having a rotational degree of freedom. Eight hinges 29 are hinged with one rotation shaft of the fourth cross shaft 31, and the other rotation shafts of the third cross shaft 31 and the fourth cross shaft 31 are respectively rotatably connected in the second swing shaft 32, and the second swing shaft 32 is fixed Connected to the second hinge shaft 33 , the second hinge shaft 33 is rotatably connected to the second hinge base 34 , and the second hinge base 34 is fixedly connected to the upper platform 18 .

One end of the first hinge shaft 26 is connected to the first driving bevel gear 37 arranged in the upper platform 18, and the upper platform 18 is connected to the first rotating shaft 35 by bearing rotation along the axial direction of the driven branch chain. A rotating shaft 35 is connected with a first driven bevel gear 39 and a first driving pulley 40 through a key. The first driving pulley 40 is connected to the first driven pulley 42 through a belt, and the first driven pulley 42 is connected to the third rotating shaft 41 through a key, and the third rotating shaft 41 is arranged on the lower platform 19 . Then the second kinematic chain, that is, when the servo motors of the second and third active branch chains 3 and 4 have different input values, the first pendulum shaft 25 rotates, driving the first hinge shaft 26 to rotate around its own axis, thereby driving the first hinge shaft 26 to rotate around its own axis. The rotation of the driving bevel gear 37 is transmitted to the first driven bevel gear 39 through gear engagement, and then transmitted to the first driving pulley 40 by the first rotating shaft 35, so that the first driven pulley 42 rotates under the action of the belt , to drive the third rotating shaft 41 and the lower platform 19 to rotate around the C axis. In order to make the structure more compact, in this embodiment, the first driving bevel gear 37 is arranged at the inner end of the first hinge shaft 26 .

One end of the second hinge shaft 33 is connected to the second driving bevel gear 38 arranged in the upper platform 18 through a key, and the second rotating shaft 36 is rotatably connected to the second rotating shaft 36 in the upper platform 18 along the axial direction of the driven branch chain through a bearing. The second rotating shaft 36 is keyed to the second driven bevel gear 43 and the second driving pulley 44 . The second driving pulley 44 is connected to the second driven pulley 46 through a belt, and the second driven pulley 46 is connected to the fourth rotating shaft 45 through a key. The lower end of the fourth rotating shaft 45 goes deep into the lower platform through the third rotating shaft, and is fixedly connected with the third driving bevel gear 47, and the third driving bevel gear 47 is connected with the fifth rotating shaft 48 on the lower platform through a bearing. The third driven bevel gear 49 is engaged with each other. Then the third kinematic chain, that is, when the fourth and fifth active branch chains 5 and 6 are driven with different input values, the second pendulum shaft 32 rotates, which drives the second hinge shaft 33 to rotate around its own axis, and then drives the second hinge shaft 33 to rotate around its own axis, thereby driving the first Two driving bevel gears 38 rotate, and the second driving bevel gear 38 meshes with the second driven bevel gear 43, so that the rotation is transmitted to the second rotating shaft 36, and the second rotating shaft 36 drives the second driving pulley 44 to rotate, and is transmitted to the second driving pulley 44 by the belt. The second driven pulley 46 drives the fourth rotating shaft 45 to rotate, and then transmits the rotation to the third driving bevel gear 47. The gear meshing action causes the third driven bevel gear 49 to rotate, and the fifth rotating shaft 48 can realize rotation around A shaft rotation. In order to make the structure more compact, in this embodiment, the second driving bevel gear 38 is arranged at the inner end of the second hinge shaft 33 .

The novel five-degree-of-freedom parallel power head of the invention can realize five-degree-of-freedom movements. Since the connecting block 15 of the first, second, and third kinematic chains can move along the axis of the first ball screw relative to the fixed frame, the connecting block connects with the driven rod through the third hinge 16 with two degrees of freedom of rotation. 17 connected, the connection between the first, second and third kinematic chains and the moving platform has three degrees of freedom in rotation; the driven branch chain is connected with the fixed frame through the first hinge and the moving pair with two degrees of freedom in rotation, and the lower end It is fixedly connected with the moving platform, so the moving platform can realize the movement of one translation and two rotations under the drive of each kinematic chain servo motor, that is, the mechanism can reach any position in a given working space to realize the positioning function. When the servo motors of the second active branch chain 3 and the third active branch chain 4 in the second kinematic chain have different input values, the rotation generated at the ends of the two branch chains can be transmitted to the lower platform 19 through bevel gears and synchronous belts to realize The rotation of the lower platform 19 around the C axis. When the driving devices of the fourth active branch chain 5 and the fifth active branch chain 6 in the third kinematic chain have different input values, the rotation generated at the ends of the two branch chains can be transmitted to the fifth branch chain through bevel gears, synchronous belts, and bevel gears. The rotating shaft 48 realizes the rotation of the fifth rotating shaft around the A-axis, so the mechanism can realize five-degree-of-freedom motion.

In the new five-degree-of-freedom parallel power head of the present invention, the second and third kinematic chains adopt the structure of double active branch chains, which can not only realize the positioning motion of one translation and two rotations at a faster speed, but also reach the designated position. Finally, the dual active branch chains have different inputs, and the driving mechanism generates rotation around the A/C axis to achieve attitude adjustment. Therefore, the mass of the positioning head can be effectively reduced, the overall rigidity of the mechanism is improved, the positioning accuracy and repeat positioning accuracy of the positioning head are increased, and the fast-forwarding ability and dynamic performance of the mechanism are improved.

Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.

Claims (3)

1. A five-degree-of-freedom parallel power head is characterized in that it comprises a fixed mount, and the center of the fixed mount base has a central opening, and a first hinge with two rotational degrees of freedom is arranged in the central opening; The first hinge is connected with the driven branch chain through a moving pair, and first, second and third kinematic chains are uniformly distributed around the driven branch chain, and the first, second and third kinematic chains are The chain is fixed on the fixed frame, the first kinematic chain includes the first active branch chain, the second kinematic chain includes the second and third active branch chains, and the third kinematic chain includes the fourth and fifth active branch chains , the structures of the first, second, third, fourth and fifth active branched chains are the same; Each of the active branch chains includes a wall plate fixedly connected to the fixed frame, and a servo motor is installed on the top of the wall plate, and the servo motor drives a first ball screw connected to the first ball screw. The first nut, the first nut is fixed in the connection block, the connection block is slidably connected to the guide rail, the guide rail is fixed on the wall plate, and the connection block passes through the second rotation degree of freedom. The three hinges are connected with the upper end of the driven rod; A moving platform is arranged below the fixed frame, and the moving platform includes two parts, an upper platform and a lower platform; the upper platform is connected to the lower platform through bearing rotation; The upper platform is fixedly connected; the lower end of the first active branch chain is rotationally connected with the upper platform through a fourth hinge with three rotational degrees of freedom, The lower end of the second active branch chain is hinged to a rotation shaft of the first cross shaft through a fifth hinge with a rotational degree of freedom, and the lower end of the third active branch chain is connected to the first cross shaft through a sixth hinge with a rotational degree of freedom. One rotation shaft of the two cross shafts is hinged, and the other rotation shafts of the first cross shaft and the second cross shaft are respectively rotatably connected in the first swing shaft, and the first swing shaft is fixedly connected to the first hinge shaft. The first hinge shaft is rotatably connected to the first hinge base, and the first hinge base is fixedly connected to the upper platform; The lower end of the fourth active branch chain is hinged to a rotating shaft of the third cross shaft through the seventh hinge with one degree of freedom of rotation, and the lower end of the fifth active branch chain is connected to the third cross shaft through the eighth hinge with one degree of freedom of rotation. One rotation shaft of the four cross shafts is hinged, and the other rotation shafts of the third cross shaft and the fourth cross shaft are respectively rotatably connected in the second swing shaft, and the second swing shaft is fixedly connected to the second hinge shaft. The second hinge shaft is rotatably connected to the second hinge seat, and the second hinge seat is fixedly connected to the upper platform; one end of the first hinge shaft is connected with the first driving bevel gear, and the first driving bevel gear is The first driven bevel gear is engaged with the first driven bevel gear, and the first driven bevel gear is fixed on the first rotating shaft, and the first rotating shaft is rotatably connected to the upper platform, and the first driving shaft is fixedly connected to the pulley, the first driving pulley is connected to the first driven pulley through a belt, the first driven pulley is fixed on a third rotating shaft, and the third rotating shaft is arranged on the lower platform; One end of the second hinge shaft is connected with the second driving bevel gear, the second driving bevel gear is engaged with the second driven bevel gear, and the second driven bevel gear is fixed on the second rotating shaft. The second rotating shaft is rotatably connected to the upper platform, and the second rotating shaft is fixedly connected with a second driving pulley, and the second driving pulley is connected with the second driven pulley through a belt. The driving pulley is fixed on the fourth rotating shaft, and the lower end of the fourth rotating shaft penetrates into the lower platform through the third rotating shaft, and is fixedly connected with the third driving bevel gear, and the third driving bevel gear is meshed with a third slave The driven bevel gear, the third driven bevel gear is fixedly connected to the fifth rotating shaft, and the fifth rotating shaft is rotatably connected to the lower platform. 2. The five-degree-of-freedom parallel power head according to claim 1, characterized in that: the first hinge includes an outer ring and an inner ring, the inner ring is provided with an inner ring shaft, and the outer ring is provided with Outer ring rotating shaft, the outer ring is rotatably connected to the fixed frame through the outer ring rotating shaft, the inner ring is rotatably connected to the outer ring through the inner ring rotating shaft, and the outer ring rotating shaft is connected to the inner ring Shaft cross setting. 3. The five-degree-of-freedom parallel power head according to claim 1, characterized in that: the first driving bevel gear is arranged at the inner end of the first hinge shaft, and the second driving bevel gear is arranged at the second hinge shaft the inner end.

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