Single-degree-of-freedom multistage spherical connecting rod device

Abstract

The invention discloses a single-degree-of-freedom multi-stage spherical connecting rod device which comprises a stand column, a driving system, a first-stage connecting rod set, a second-stage connecting rod set and a tail end connecting rod. Wherein the driving system is mounted on the stand column; the first-stage connecting rod set comprises a first planetary gearbox, a first-stage connecting rod, a first-stage driving rod, a first-stage transmission rod and a first-stage long rod. The second-stage connecting rod group comprises a star gear box II, a second-stage connecting rod, a connecting rod I, a second-stage driving rod, a second-stage long rod I, a second-stage long rod II, a second-stage transmission rod, a connecting rod II and a connecting rod III; the tail end of the first-stage connecting rod is connected with the head end of the second-stage connecting rod through a rotating pair, and the tail end of the second-stage connecting rod is connected with the head end of the tail-end connecting rod through a rotating pair. The device has the characteristics of simple mechanism and wide adaptability, and the complexity of a driving control system of the device is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a single-degree-of-freedom multi-stage spherical connecting rod device. Background Art

[0002] In the robot's motion space, the comprehensive problem of the trajectory of the end of the mechanism has always been the focus of system research and development. At present, the realization of the target motion trajectory of the actuator depends on complex spatial serial and parallel mechanisms with multiple degrees of freedom, such as robotic arms, spatial parallel mechanisms, etc. The kinematic forward and inverse solution algorithm can be used to control the end of the multi-freedom mechanism to complete a specific trajectory motion, which has the characteristics of high flexibility and wide application scenarios. However, for the actual application scenarios of determining the target motion trajectory, the existing multi-degree-of-freedom mechanism solutions with large workspaces have the problem of redundant motion capabilities, resulting in complex system structure and control algorithms, resulting in high costs.

[0003] In summary, providing a low-freedom linkage mechanism that can complete complex motion trajectories is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The purpose of the present invention is to provide a single-degree-of-freedom multi-stage spherical connecting rod device to solve the problems existing in the above-mentioned prior art, which has the characteristics of simple structure and wide adaptability, and reduces the complexity of the device drive control system.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a single-degree-of-freedom multi-stage spherical connecting rod device, comprising a column, a driving system, a primary connecting rod group, a secondary connecting rod group and a terminal connecting rod;

[0007] Wherein, the driving system is installed on the column;

[0008] The primary connecting rod group includes a planetary gear box 1, a primary connecting rod, a primary driving rod, a primary transmission rod and a primary long rod; the secondary connecting rod group includes a planetary gear box 2, a secondary connecting rod, a connecting rod 1, a secondary driving rod, a secondary long rod 1, a secondary long rod 2, a secondary transmission rod, a connecting rod 2 and a connecting rod 3;

[0009] The end of the primary connecting rod is connected to the head end of the secondary connecting rod through a revolute pair, and the end of the secondary connecting rod is connected to the head end of the terminal connecting rod through a revolute pair;

[0010] The planetary gearbox 1 is installed on the top of the column, the power output end of the drive system is fixedly connected to the head end of the primary connecting rod, the head end of the primary connecting rod is also fixedly connected to the planet carrier 1 of the planetary gearbox 1, the head end of the primary driving rod is fixedly connected to the sun gear 1 of the planetary gearbox 1, the end of the primary driving rod is connected to the head end of the primary long rod through a rotating pair, the end of the primary long rod is connected to the secondary connecting rod and the end of the primary transmission rod through a rotating pair, the head end of the primary transmission rod is connected to the end of the primary connecting rod through a rotating pair, the primary connecting rod, the primary driving rod, the primary long rod and the primary transmission rod are connected through each rotating pair to form a parallelogram linkage mechanism;

[0011] The ring gear 2 of the planetary gearbox 2 is fixedly connected to the primary connecting rod through the connecting rod 1, the planet carrier 2 of the planetary gearbox 2 is fixedly connected to the head end of the secondary connecting rod, the sun gear 2 of the planetary gearbox 2 is fixedly connected to the head end of the secondary driving rod, the head end of the secondary driving rod is also connected to the head end of the secondary long rod 2 through a rotating pair, the end of the secondary driving rod is connected to the head end of the secondary long rod 1 through a rotating pair, the end of the secondary long rod 1 is connected to the end of the secondary transmission rod through a rotating pair, the head end of the secondary transmission rod is connected to the end of the secondary long rod 2 through a rotating pair, and the head end and the end of the secondary transmission rod are also fixedly connected to the end connecting rod through connecting rod 3 and connecting rod 2; the secondary driving rod, the secondary long rod 1, the secondary long rod 2 and the secondary transmission rod are connected through each rotating pair to form a parallelogram linkage mechanism;

[0012] The rotation axes of each revolving pair in the primary connecting rod group, the secondary connecting rod group and the terminal connecting rod meet at one point.

[0013] Preferably, the driving mechanism includes a driving motor, a reducer, and a mounting flange. The driving motor is connected to the reducer. The reducer is fixedly connected to an outer mounting surface of the mounting flange. An inner mounting surface of the mounting flange is fixedly connected to the column.

[0014] Preferably, the planetary gearbox 1 includes a planet carrier 1, a sun gear 1, a planet gear 1, and a ring gear 1, the ring gear 1 is fixed to the top of the column, the planet carrier 1 is connected to each of the planet gears 1 through a revolving pair, each of the planet gears 1 is evenly distributed circumferentially with the axis of the planet carrier 1 as the axis, the sun gear 1 is installed coaxially with the planet carrier and is located between each of the planet gears 1, each of the planet gears 1 is installed with the sun gear 1 through external meshing, and each of the planet gears 1 is installed with the ring gear 1 through internal meshing.

[0015] Preferably, the planetary gearbox 2 includes a planet carrier 2, a sun gear 2, a planet gear 2, and a ring gear 2. The planet carrier 2 is connected to each of the planet gears 2 through a revolving pair. Each of the planet gears 2 is evenly distributed circumferentially with the axis of the planet carrier 2 as the axis center. The sun gear 2 is coaxially installed with the planet carrier 2 and is located between each of the planet gears 2. Each of the planet gears 2 is installed with the sun gear 2 through external meshing, and each of the planet gears 2 is installed with the ring gear 2 through internal meshing.

[0016] Preferably, the primary connecting rod, primary driving rod, primary transmission rod, primary long rod, secondary connecting rod, secondary driving rod, secondary long rod one, secondary long rod two and secondary transmission rod are all spherical connecting rods with curvature.

[0017] Preferably, the column is a supporting mechanism for the entire device and can be fixedly installed on the ground.

[0018] Preferably, a handle is installed at the end of the terminal connecting rod.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] 1. The single-degree-of-freedom multi-stage spherical connecting rod device of the present invention adopts a multi-stage spherical connecting rod series connection mode. Under the drive of a single-degree-of-freedom power source, each series connecting rod transmits motion at a certain speed relationship, and finally completes a composite motion, that is, the end of the connecting rod can complete a specific spatial motion trajectory. It is suitable for application scenarios where the target motion trajectory of the actuator remains unchanged, can simplify the mechanism body and the drive system, and reduce the manufacturing cost and control complexity.

[0021] 2. The single-degree-of-freedom multi-stage spherical connecting rod device of the present invention adopts a planetary gear set as a transmission mechanism between the multi-stage connecting rod groups, which can achieve a larger design transmission ratio in a limited space, make the device structure more compact, reduce the overall weight, and reduce the motion interference of the mechanism.

[0022] 3. The single-degree-of-freedom multi-stage spherical linkage device in the present invention is based on the comprehensive theory of spatial linkage of Fourier series. In the design stage of the mechanism in the present invention, the number of linkage groups of the multi-stage spherical linkage device can be determined to control the fitting accuracy of the actual motion trajectory of the end of the device and the target space trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1It is a structural schematic diagram of a single-degree-of-freedom multi-stage spherical connecting rod device in the present invention;

[0025] Figure 2 It is a schematic diagram showing that the rotation axes of the revolving pairs in the single-degree-of-freedom multi-stage spherical connecting rod device of the present invention converge at one point;

[0026] Figure 3 It is a structural schematic diagram of an angle of the primary connecting rod group in the present invention;

[0027] Figure 4 It is a structural schematic diagram of the primary connecting rod assembly in the present invention from another angle;

[0028] Figure 5 It is a structural schematic diagram of a secondary connecting rod assembly at one angle in the present invention;

[0029] Figure 6 It is a structural schematic diagram of the secondary connecting rod assembly in the present invention from another angle;

[0030] Figure 7 It is a schematic diagram of a specific embodiment of the single-degree-of-freedom multi-stage spherical connecting rod device in the present invention in a rehabilitation scenario;

[0031] In the figure: 1. column; 2. drive system; 3. primary connecting rod group; 4. secondary connecting rod group; 5. end connecting rod; 201. mounting flange; 202. drive motor; 203. reducer; 301. planet carrier one; 302. sun gear one; 303. planet gear one; 304. ring gear one; 305. primary connecting rod; 306. primary driving rod; 307. primary long rod; 308. primary transmission rod; 401. planet carrier two; 402. sun gear two; 403. planet gear two; 404. ring gear two; 405. connecting rod one; 406. secondary connecting rod; 407. secondary driving rod; 408. secondary long rod one; 409. secondary long rod two; 410. secondary transmission rod; 411. connecting rod two; 412. connecting rod three; 502. handle; 6. actual motion trajectory of the end of the mechanism; 7. target motion trajectory of the end of the limb. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a single-degree-of-freedom multi-stage spherical connecting rod device to solve the problems existing in the prior art.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] The single-degree-of-freedom multi-stage spherical connecting rod device in this embodiment is as follows: Figure 1-Figure 6 As shown, it includes a column 1, a driving system 2, a primary connecting rod group 3, a secondary connecting rod group 4 and a terminal connecting rod 5;

[0036] Wherein, the driving system 2 is installed on the column 1;

[0037] The primary connecting rod group 3 includes a planetary gear box 1, a primary connecting rod 305, a primary driving rod 306, a primary transmission rod 308 and a primary long rod 307; the secondary connecting rod group 4 includes a planetary gear box 2, a secondary connecting rod 406, a connecting rod 1 405, a secondary driving rod 407, a secondary long rod 1 408, a secondary long rod 2 409, a secondary transmission rod 410, a connecting rod 2 411 and a connecting rod 3 412;

[0038] The end of the primary connecting rod 305 is connected to the head end of the secondary connecting rod 406 through a revolute pair, and the end of the secondary connecting rod 406 is connected to the head end of the terminal connecting rod 5 through a revolute pair;

[0039] The planetary gearbox 1 is installed on the top of the column 1, the power output end of the drive system 2 is fixedly connected to the head end of the primary connecting rod 305, the head end of the primary connecting rod 305 is also fixedly connected to the planet carrier 1 301 of the planetary gearbox 1, the head end of the primary driving rod 306 is fixedly connected to the sun gear 1 302 of the planetary gearbox 1, the end of the primary driving rod 306 is connected to the head end of the primary long rod 307 through a rotating pair, the end of the primary long rod 307 is connected to the secondary connecting rod 406 and the end of the primary transmission rod 308 through a rotating pair, the head end of the primary transmission rod 308 is connected to the end of the primary connecting rod 305 through a rotating pair, the primary connecting rod 305, the primary driving rod 306, the primary long rod 307 and the primary transmission rod 308 are connected through each rotating pair to form a parallelogram linkage mechanism;

[0040] The ring gear 2 404 of the planetary gearbox 2 is fixedly connected to the primary connecting rod 305 through the connecting rod 1 405, the planet carrier 2 401 of the planetary gearbox 2 is fixedly connected to the head end of the secondary connecting rod 406, the sun gear 2 402 of the planetary gearbox 2 is fixedly connected to the head end of the secondary driving rod 407, the head end of the secondary driving rod 407 is also connected to the head end of the secondary long rod 2 409 through a rotating pair, the end of the secondary driving rod 407 is connected to the head end of the secondary long rod 1 408 through a rotating pair, and the secondary The end of the long rod 1 408 is connected to the end of the secondary transmission rod 410 through a rotating pair, the head end of the secondary transmission rod 410 is connected to the end of the secondary long rod 2 409 through a rotating pair, and the head end and the end of the secondary transmission rod 410 are also fixedly connected to the end connecting rod 5 through a connecting rod 3 412 and a connecting rod 2 411; the secondary driving rod 407, the secondary long rod 1 408, the secondary long rod 2 409 and the secondary transmission rod 410 are connected through various rotating pairs to form a parallelogram linkage mechanism;

[0041] The rotation axes of the respective revolving pairs in the primary connecting rod group 3, the secondary connecting rod group 4 and the terminal connecting rod 5 meet at one point.

[0042] In this specific embodiment, the driving mechanism includes a driving motor 202, a reducer 203, and a mounting flange 201. The driving motor 202 is connected to the reducer 203, the reducer 203 is fixedly connected to the outer mounting surface of the mounting flange 201, and the inner mounting surface of the mounting flange 201 is fixedly connected to the column 1.

[0043] In this specific embodiment, the planetary gearbox 1 includes a planet carrier 1301, a sun gear 1302, a planet gear 1303, and a ring gear 1304. The ring gear 1304 is fixed to the top of the column 1. The planet carrier 1301 is connected to each planet gear 1303 through a revolving pair. Each planet gear 1303 is evenly distributed circumferentially with the axis of the planet carrier 1301 as the axis. The sun gear 1302 is coaxially installed with the planet carrier 1301 and is located between each planet gear 1303. Each planet gear 1303 is installed with the sun gear 1302 through external meshing, and each planet gear 1303 is installed with the ring gear 1304 through internal meshing.

[0044] In this specific embodiment, the planetary gearbox 2 includes a planet carrier 2 401, a sun gear 2 402, a planet gear 2 403, and a ring gear 2 404. The planet carrier 2 401 is connected to each planet gear 2 403 through a rotating pair. Each planet gear 2 403 is evenly distributed circumferentially with the axis of the planet carrier 2 401 as the axis. The sun gear 2 402 is coaxially installed with the planet carrier 2 401 and is located between each planet gear 2 403. Each planet gear 2 403 is installed with the sun gear 2 402 through external meshing, and each planet gear 2 403 is installed with the ring gear 2 404 through internal meshing.

[0045] In this specific embodiment, the primary connecting rod 305, the primary driving rod 306, the primary transmission rod 308, the primary long rod 307, the secondary connecting rod 406, the secondary driving rod 407, the secondary long rod one 408, the secondary long rod two 409 and the secondary transmission rod 410 are all spherical connecting rods with curvature.

[0046] In this specific embodiment, the column 1 is a supporting mechanism for the entire device and can be fixedly installed on the ground to ensure the stability of the structure.

[0047] In this specific embodiment, a handle 502 is installed at the end of the end connecting rod 5 .

[0048] Here’s how it works:

[0049] like Figure 2 As shown, the output power of the driving motor 202 drives the primary connecting rod 305 to rotate around the axis OA at an angular velocity V1 after passing through the reducer 203. The primary connecting rod 305 drives the planet carrier 1 301 to move at the same angular velocity V1, and after the speed change of the planetary gear set, drives the sun gear 1 302 to rotate at an angular velocity V2. The primary driving rod 306 is fixedly connected to the sun gear 1 302, so it drives the primary driving rod 306 to rotate around the axis OA at an angular velocity V2. The primary connecting rod 305, the primary driving rod 306, the primary long rod 307, and the primary transmission rod 308 are connected by a revolute pair to form a spatial parallelogram connecting rod mechanism. The primary driving rod 306 pushes the primary long rod 307 to move at an angular velocity V2, and the primary long rod 307 drives the primary transmission rod 308 to rotate around the axis OC at the same angular velocity V2. The primary transmission rod 308D point is fixedly connected to the secondary connecting rod 406, so the secondary connecting rod 406 rotates around the axis OC at the same angular velocity V2. After the secondary connecting rod 406 rotates around the axis OC at the angular velocity V2 through the planetary gear set, it drives the secondary driving rod 407 to rotate around the OC axis at the angular velocity V3. The secondary driving rod 407, the secondary long rod 1 408, the secondary long rod 2 409 and the secondary transmission rod 410 are connected through a rotating pair to form a parallelogram linkage mechanism. The secondary driving rod 407 pushes the secondary long rod 1 408 to move at the angular velocity V3, and the secondary long rod 1 408 drives the secondary transmission rod 410 to rotate around the axis OF at the same angular velocity V3. The secondary transmission rod 410 is fixedly connected to the end connecting rod 5 through the connecting rod 2 411, so the end connecting rod 5 rotates around the axis OF at the same angular velocity V3. The tail end of the end connecting rod 5 can be installed with a handle 502 or replaced with other forms of actuators.

[0050] The single-degree-of-freedom multi-stage spherical connecting rod device in the present invention can be used as a rehabilitation exercise device for human shoulder joints. The specific implementation process includes a motion trajectory matching process, a connecting rod structure and transmission ratio calculation process, and a rehabilitation training process.

[0051] First, in shoulder joint rehabilitation training, the rehabilitation therapist determines the range of human shoulder joint movement according to the specific rehabilitation training task, and then obtains the motion trajectory of the upper limb end. Select key points on the motion trajectory to obtain their coordinate information in the machine coordinate system. In the motion trajectory matching process, by using the Fourier series mathematical model to obtain the mapping model of trajectory characteristics and mechanism size parameters, and bringing in the coordinate information of key points, the basic size and mechanism parameter solution set of the multi-stage spherical connecting rod can be obtained, that is, the number of connecting rods, the radius of each spherical connecting rod, and the arc length of each spherical connecting rod. By calculating the motion trajectory of the end of the mechanism fitted under each solution set respectively, the set with the smallest deviation is selected as the size parameter of the multi-stage spherical connecting rod under this specific motion trajectory, so that the end of the mechanism can perform spatial motion approximating the target trajectory according to the key points under this size. As Figure 7 As shown in the figure, the solid line represents the target motion trajectory 7 of the limb end, the dotted line represents the actual motion trajectory 6 of the mechanism end, and points a to f are key points selected on the target motion trajectory.

[0052] During the rehabilitation training process, the patient keeps his upper body upright, holds the handle 502 of the device with his hand, remains still, and controls the drive system 2 to move. At this time, the primary connecting rod 305 rotates around the OA axis at an angular velocity V1 under the drive of the motor; the secondary connecting rod 406 is connected in series to the end of the primary connecting rod 305, and rotates around the OC axis at an angular velocity V2 through a parallelogram mechanism after the planetary gear changes speed; the terminal connecting rod 5 is connected in series to the end of the secondary connecting rod 406, and rotates around the OF axis at an angular velocity V3 through a parallelogram mechanism after the planetary gear changes speed. Therefore, in the global coordinate system, the handle 502 of the terminal mechanism performs a composite movement of three serial connecting rods, which ultimately drives the patient's upper limb terminal to perform passive rehabilitation training.

[0053] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A single-degree-of-freedom multi-stage spherical connecting rod device, characterized in that: It includes a column, a driving system, a primary connecting rod group, a secondary connecting rod group and a terminal connecting rod; Wherein, the driving system is installed on the column; The primary connecting rod group includes a planetary gear box 1, a primary connecting rod, a primary driving rod, a primary transmission rod and a primary long rod; the secondary connecting rod group includes a planetary gear box 2, a secondary connecting rod, a connecting rod 1, a secondary driving rod, a secondary long rod 1, a secondary long rod 2, a secondary transmission rod, a connecting rod 2 and a connecting rod 3; The end of the primary connecting rod is connected to the head end of the secondary connecting rod through a revolute pair, and the end of the secondary connecting rod is connected to the head end of the terminal connecting rod through a revolute pair; The planetary gearbox 1 is installed on the top of the column, the power output end of the drive system is fixedly connected to the head end of the primary connecting rod, the head end of the primary connecting rod is also fixedly connected to the planet carrier 1 of the planetary gearbox 1, the head end of the primary driving rod is fixedly connected to the sun gear 1 of the planetary gearbox 1, the end of the primary driving rod is connected to the head end of the primary long rod through a rotating pair, the end of the primary long rod is connected to the secondary connecting rod and the end of the primary transmission rod through a rotating pair, the head end of the primary transmission rod is connected to the end of the primary connecting rod through a rotating pair, the primary connecting rod, the primary driving rod, the primary long rod and the primary transmission rod are connected through each rotating pair to form a parallelogram linkage mechanism; The ring gear 2 of the planetary gearbox 2 is fixedly connected to the primary connecting rod through the connecting rod 1, the planet carrier 2 of the planetary gearbox 2 is fixedly connected to the head end of the secondary connecting rod, the sun gear 2 of the planetary gearbox 2 is fixedly connected to the head end of the secondary driving rod, the head end of the secondary driving rod is also connected to the head end of the secondary long rod 2 through a rotating pair, the end of the secondary driving rod is connected to the head end of the secondary long rod 1 through a rotating pair, the end of the secondary long rod 1 is connected to the end of the secondary transmission rod through a rotating pair, the head end of the secondary transmission rod is connected to the end of the secondary long rod 2 through a rotating pair, and the head end and the end of the secondary transmission rod are also fixedly connected to the end connecting rod through connecting rod 3 and connecting rod 2; the secondary driving rod, the secondary long rod 1, the secondary long rod 2 and the secondary transmission rod are connected through each rotating pair to form a parallelogram linkage mechanism; The rotation axes of each revolving pair in the primary connecting rod group, the secondary connecting rod group and the terminal connecting rod meet at one point.

2. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: The driving mechanism comprises a driving motor, a reducer and a mounting flange. The driving motor is connected to the reducer. The reducer is fixedly connected to the outer mounting surface of the mounting flange. The inner mounting surface of the mounting flange is fixedly connected to the column.

3. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: The planetary gearbox 1 includes a planet carrier 1, a sun gear 1, a planet gear 1, and a ring gear 1. The ring gear 1 is fixed to the top of the column. The planet carrier 1 is connected to each of the planet gears 1 through a revolving pair. Each of the planet gears 1 is evenly distributed circumferentially with the axis of the planet carrier 1 as the axis. The sun gear 1 is installed coaxially with the planet carrier and is located between each of the planet gears 1. Each of the planet gears 1 is installed with the sun gear 1 through external meshing, and each of the planet gears 1 is installed with the ring gear 1 through internal meshing.

4. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: The planetary gearbox 2 includes a planet carrier 2, a sun gear 2, a planet gear 2, and a ring gear 2. The planet carrier 2 is connected to each of the planet gears 2 through a revolving pair. Each of the planet gears 2 is evenly distributed circumferentially with the axis of the planet carrier 2 as the axis center. The sun gear 2 is coaxially installed with the planet carrier 2 and is located between each of the planet gears 2. Each of the planet gears 2 is installed with the sun gear 2 through external meshing, and each of the planet gears 2 is installed with the ring gear 2 through internal meshing.

5. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: The primary connecting rod, primary driving rod, primary transmission rod, primary long rod, secondary connecting rod, secondary driving rod, secondary long rod one, secondary long rod two and secondary transmission rod are all spherical connecting rods with curvature.

6. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: The column is a supporting mechanism for the entire device and can be fixedly installed on the ground.

7. The single-degree-of-freedom multi-stage spherical connecting rod device according to claim 1, characterized in that: A handle is installed at the end of the terminal connecting rod.

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