The invention discloses a four-degree of freedom inverted spline combining end,including a double-degree of freedom series
mechanism based on the
ball spline, a double-degree of freedom
snout mechanism and an absorbing
snout.In the series mechanism, the
ball spline shaft connects to the slide block through the turning assistance, the driving slide block realizes the inverted spline combining end to move in Z direction; the sleeve is fixed on the rack through another turning assistance, the stir folk of the driving and the sleeve realizes the inverted spline combining end to turn in the Z direction; the shunt mechanism is composed of the upper and the lower platforms, and a fixing
branch chain that connects the upper and the lower platforms and two movable
branch chains, the movable assistance of the two driving movable
branch chains realizes the inverted spline combining end to slightly turn in X, Y direction ;the upper platform of the shunt mechanism fixedly connects with the
ball spline shaft, the lower platform is equipped with the picking-up absorbing
snout. This invention realizes the degree of freedom needed by the leveling,aiming, bonding,and has the characteristics of fast resolution, high strength and precision and tight structure.