A parallel platform attitude holding mechanism based on rope drive

Abstract

A parallel platform posture maintaining mechanism based on rope drive, the present invention relates to a parallel platform, the present invention is to solve the need for posture locking and maintaining of the parallel platform in space, the present invention comprises a static platform, a dynamic platform, a locking branch chain assembly, a driving assembly, a conducting device and a locking assembly, the static platform and the dynamic platform are horizontally arranged from bottom to top, the driving assembly is installed at the center position of the upper surface of the static platform, the locking branch chain assembly is installed between the static platform and the dynamic platform, the driving assembly is connected to the locking assembly through the conducting device, and the locking assembly is connected to the locking branch chain assembly. The present invention is a parallel platform posture maintaining mechanism based on rope drive, which can reliably lock the posture of the parallel platform, and ensure that the dynamic platform of the parallel platform remains stable and is not affected by external disturbances. The present invention belongs to the technical field of locking devices.

Description

Technical Field

[0001] The invention relates to a parallel platform, in particular to a rope-driven parallel platform posture maintaining mechanism, and belongs to the technical field of locking devices. Background Art

[0002] With the rapid development of the global aerospace industry, technologies such as spacecraft signal transmission and spacecraft on-orbit services have played a very important role in the field of space development. For pointing spacecraft that complete space signal transmission and other types of spacecraft that need to ensure their own attitude, the steady-state pointing accuracy of the mechanism is the most important performance indicator. The pointing and attitude of spacecraft are mostly controlled by parallel platforms. For specific pointing control and signal transmission spacecraft used in space scenes, their pointing and attitude control is reflected in the control of parallel platforms.

[0003] The research on the locking mechanism of the branch chain of the parallel platform originated in the 1970s. At that time, it was mainly used in flight simulators to improve the training effect and safety of pilots. Nowadays, the research on the attitude holding mechanism of the parallel platform can be mainly divided into two types of locking: the self-locking of the branch chain and the externally installed locking mechanism. For the externally installed locking mechanism type, there are currently a variety of locking schemes such as pneumatic, hydraulic, electric, and electromagnetic, but all have shortcomings and areas that need to be improved. The pneumatic locking mechanism requires the configuration of an air source, which increases the complexity; the hydraulic locking mechanism greatly increases the weight of the locking mechanism and has the problem of leakage; the electric locking mechanism is stable and reliable, but it requires the configuration of multiple motors to lock each branch chain at the same time, which increases the cost; the electromagnetic locking mechanism is not reliable enough and is prone to cause platform impact and vibration; the threaded self-locking locking method has poor reliability and is not suitable for high-efficiency transmission. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the present invention needs to design a low-cost, integrated control, and reliable locking parallel platform attitude maintaining mechanism, especially to solve the need for attitude locking and maintaining the parallel platform in space, and then proposes a rope-driven parallel platform attitude maintaining mechanism.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] The present invention includes a rope-driven parallel platform posture maintaining mechanism, which includes a static platform, a dynamic platform, a locking branch chain assembly, a driving assembly, a transmission device and a locking assembly. The static platform and the dynamic platform are horizontally arranged from bottom to top, the driving assembly is installed at the center position of the upper surface of the static platform, the locking branch chain assembly is installed between the static platform and the dynamic platform, the driving assembly is connected to the locking assembly through the transmission device, and the locking assembly is connected to the locking branch chain assembly.

[0007] Furthermore, the locking branch chain assembly includes a guide sleeve, a guide rod and a clamping surface. The lower end of the guide sleeve is installed on the upper surface of the static platform through a hinge, the lower end of the guide rod is inserted into the upper end of the guide sleeve, the upper end of the guide rod is connected to the lower surface of the moving platform, and the side wall of the upper part of the guide rod is provided with a clamping surface.

[0008] Furthermore, the guide rod includes a lower connecting section and an upper connecting section, the diameter of the lower connecting section is smaller than that of the upper connecting section, the lower end of the lower connecting section is connected to the guide sleeve, and the upper end of the upper connecting section is connected to the lower surface of the moving platform.

[0009] Furthermore, the number of the locking branch chain components is 2 to 3.

[0010] Furthermore, the driving assembly includes a torque motor, a rope drum, a rope interface and a guide column. The torque motor is installed at the center position of the upper surface of the static platform. The output shaft of the torque motor is connected to the rope drum through a coupling. The outer circumference of the rope drum is evenly distributed with multiple rope interfaces along its circumferential direction. Each rope interface is connected to a conduction device. The guide column is installed on the static platform.

[0011] Furthermore, the transmission device includes a steel wire rope, a margin tension spring and a pulley hinge combination expansion component, and the pulley hinge combination expansion component includes: a lower fixed pulley, an upper fixed pulley, a lever hinge, a moving hinge, and a fixed hinge. The lower fixed pulley is installed on the static platform through a bolt connection, and the upper fixed pulley is installed on the guide sleeve through a rod connection. The lever hinge, the moving hinge and the fixed hinge are connected by a rod, and the fixed hinge is installed on the guide sleeve through a bolt. One end of the steel wire rope is connected to the rope interface, and the other end of the steel wire rope passes through the guide column, bypasses the lower fixed pulley and the upper fixed pulley, and is connected to the moving hinge; an allowance tension spring is provided in the middle section of the steel wire rope.

[0012] Furthermore, the guide column is provided with a through hole for passing the steel wire rope.

[0013] Furthermore, the locking assembly includes a primary lever, a primary hinge, a clamping block, a secondary lever, a secondary hinge, a friction block and a reset compression spring. The primary hinge and the secondary hinge are both mounted on the guide sleeve by bolts. The middle part of the primary lever is connected to the primary hinge, and its driving end is connected to the lever hinge, and the clamping block is installed on the action end; the clamping block is installed on the end of the primary lever by bolts; the starting end of the secondary lever is connected to the secondary hinge, and the friction block is installed at the end; one end of the reset compression spring is installed on the guide sleeve, and the other end is installed on the middle section of the secondary lever.

[0014] Furthermore, the friction block is made of tungsten carbide.

[0015] Furthermore, the friction block is made of rubber.

[0016] The beneficial effects of the present invention are:

[0017] 1. When the parallel platform is locked, the torque motor drives the rope drum to rotate, and the rope drum rotates to pull the rope system to contract. The end of the rope system is connected to the locking device, and the locking device is driven to work when it contracts to lock the parallel platform branch chain. When the locking device is working, the friction block fits tightly to the pressing surface through the double lever overlapping mechanism to achieve stable and reliable locking. The driving rope system drives the locking lever to move through the pulley hinge combined expansion mechanism. The rope system itself always remains horizontal to ensure stable and reliable driving force.

[0018] 2. The present invention is a parallel platform posture holding mechanism based on rope drive, which can reliably lock the posture of the parallel platform and ensure that the parallel platform dynamic platform remains stable and is not affected by external disturbances.

[0019] 3. The present invention adopts a motor-driven combined with rope-driven method for locking. Compared with the traditional locking method, it does not require the configuration of an air source, does not have hydraulic leakage, does not rely on thread self-locking, and is suitable for high-efficiency transmission.

[0020] 4. The present invention drives any number of locking devices through a single motor, integrates control, and saves costs. It is suitable for parallel platforms with different structures such as three-chain and six-chain.

[0021] 5. The present invention provides a margin stretch spring on the pulling rope, which can ensure the synchronization of locking, compensate for the deformation of the rope, and ensure that the locking force meets the standard.

[0022] 6. The present invention designs and adopts a double lever overlapping structure, which changes the force direction of the friction block, avoids the influence of lever bending, ensures that the friction block is in close contact with the pressing surface, and ensures the reliability of locking.

[0023] 7. The present invention designs and adopts a pulley hinge combined expansion structure, so that the pulling rope system is not affected by the deflection of the branch chain, and the rope system always maintains a horizontal state, ensuring the stability of the driving force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 is a top cross-sectional view of the present invention;

[0026] Figure 3 It is the schematic diagram of the double lever overlapping structure;

[0027] Figure 4 It is the schematic diagram of the initial state of the pulley hinge combination expansion structure;

[0028] Figure 5 It is a schematic diagram of the working state of the pulley hinge combination expansion structure;

[0029] Figure 6 It is a schematic diagram of the working state of the attitude maintaining mechanism when the platform is deflected.

[0030] In the figure:

[0031] 1-static platform, 2-moving platform, 3-guide sleeve, 4-guide rod, 5-pressing surface, 6-torque motor, 7-rope drum, 8-rope interface, 9-guide column, 10-wire rope, 11-allowance tension spring, 12-lower fixed pulley, 13-upper fixed pulley, 14-lever hinge, 15-moving hinge, 16-fixed hinge, 17-primary lever, 18-primary hinge, 19-pressing block, 20-secondary lever, 21-secondary hinge, 22-friction block, 23-reset compression spring. DETAILED DESCRIPTION

[0032] Specific implementation method 1: Combination Figure 1 This embodiment is described. A rope-driven parallel platform posture-maintaining mechanism described in this embodiment includes a static platform 1, a dynamic platform 2, a locking branch chain assembly, a driving assembly, a transmission device, and a locking assembly. The static platform 1 and the dynamic platform 2 are arranged horizontally from bottom to top. The driving assembly is installed at the center of the upper surface of the static platform 1. The locking branch chain assembly is installed between the static platform 1 and the dynamic platform 2. The driving assembly is connected to the locking assembly through the transmission device, and the locking assembly is connected to the locking branch chain assembly. The static platform 1 and the dynamic platform 2 are respectively responsible for carrying the various parts of the parallel platform structure and completing the task objectives of carrying, docking or pointing the parallel platform.

[0033] Specific implementation method 2: Combination Figure 1 To illustrate this embodiment, the locking branch chain assembly described in this embodiment includes a guide sleeve 3, a guide rod 4 and a clamping surface 5. The lower end of the guide sleeve 3 is mounted on the upper surface of the static platform 1 through a hinge, the lower end of the guide rod 4 is inserted into the upper end of the guide sleeve 3, the upper end of the guide rod 4 is connected to the lower surface of the moving platform 2, and the upper side wall of the guide rod 4 is provided with a clamping surface 5.

[0034] The locking branch chain is a passive branch chain, and its length changes with the movement of the parallel platform; the guide sleeve 3 is installed on the static platform 1 through a hinge, and it and the guide rod 4 form a moving pair to realize the length change of the branch chain; the guide rod 4 itself is divided into a thin lower connecting section and a thick upper connecting section, the thin section is connected to the guide sleeve 3, and the thick section is connected to the moving platform 2 through a Hooke's hinge; the clamping surface 5 is a machined surface on the thick section of the guide rod 4, which is used to cooperate with the friction block 22 to generate friction force to increase stiffness. Its length is greater than the variation range of the branch chain length to ensure that the friction pair can cooperate in any position of the platform.

[0035] The other components and connection relationships of this embodiment are the same as those of the first embodiment.

[0036] Specific implementation method three: Combination Figure 1To illustrate this embodiment, the guide rod 4 described in this embodiment includes a lower connecting section and an upper connecting section, the diameter of the lower connecting section is smaller than that of the upper connecting section, the lower end of the lower connecting section is connected to the guide sleeve 3, and the upper end of the upper connecting section is connected to the lower surface of the moving platform 2.

[0037] The other components and connection relationships of this embodiment are the same as those of the first or second embodiment.

[0038] Specific implementation method four: Combination Figures 2 to 3 This embodiment describes that the number of locking branch chain assemblies in this embodiment is 2 to 3. This posture holding mechanism is a locking mechanism that needs to be installed separately. When it is applied to a parallel platform with locking requirements, a locking branch chain assembly needs to be installed on it. When the number is 2, a 90° vertical arrangement is adopted, and when the number is 3, a 360° uniform arrangement is adopted.

[0039] The other components and connection relationships of this embodiment are the same as those of the first, second or third embodiment.

[0040] Specific implementation method five: Combination Figure 1 to Figure 2 This embodiment is described. The driving assembly of this embodiment includes a torque motor 6, a rope drum 7, a rope interface 8 and a guide column 9. The torque motor 6 is installed at the center of the upper surface of the static platform 1. The output shaft of the torque motor 6 is connected to the rope drum 7 through a coupling. The outer circumference of the rope drum 7 is evenly provided with a plurality of rope interfaces 8 along its circumferential direction. Each rope interface 8 is connected to a transmission device. The guide column 9 is installed on the static platform 1. The torque motor 6 is installed at the center of the static platform 1 by bolts, and its output shaft directly drives the rope drum 7 through a coupling; the rope drum 7 is driven by the torque motor 6, and has only one degree of rotational freedom through the bearing. The outer circumference of the rope drum 7 is evenly provided with threaded holes for installing the rope interface 8; the rope interface 8 is installed on the outer circumference of the rope drum 7 by threaded connection, and is connected to the starting end of the wire rope 10; the guide column is installed on the threaded hole reserved on the static platform 1 by bolts, and has a radial through hole. The wire rope 10 passes through the guide column 9 to connect the rope interface 8 and the locking device.

[0041] This posture holding mechanism has only one driving component, which can drive multiple locking components, the number of which is usually 3. Because the rope-driven locking device does not require the rope to produce a large length contraction, it only needs to produce a small displacement to drive the lever movement to complete the driving of the locking device. Therefore, the rope drum 7 used is different from the conventional rope drum. The required rotation angle is extremely small, and there is no need for rope winding. Therefore, a single rope drum 7 can evenly distribute multiple rope interfaces 8 on its periphery, the number of which is usually 3 or 6, so multiple locking devices can be driven by a single driving device; and because the required rotation angle of the rope drum 7 is extremely small, a torque motor 6 is used as the driving component of this device. The torque motor 6 is mostly suitable for small-angle rotation with large torque, and is suitable for this driving device, so that the torque motor 6 can directly drive the rope drum 7. When the locking work is in progress, the rotation of the rope drum 7 will cause the direction of the wire rope 10 to no longer remain radial, so the wire rope 10 is passed through the guide column 9 so that the side of the wire rope 10 connected to the driving device always remains radial to ensure the stability of the driving force direction. In order to avoid the locking asynchrony caused by the length error of the rope system 10 and the elastic or plastic deformation caused by the pulling of the wire rope 10, a margin tension spring 11 is installed in the middle of the rope system 10 to ensure that all locking devices are driven during the locking work, thereby ensuring the synchronization of the locking work and compensating for the error caused by the length change of the rope system 10 caused by long-term use.

[0042] The other components and connection relationships of this embodiment are the same as those of the first, second, third or fourth embodiment.

[0043] Specific implementation method six: Combination Figure 1 to Figure 2 The present embodiment is described. The transmission device described in the present embodiment includes a steel wire rope 10, a margin tension spring 11 and a pulley hinge combination expansion component. The pulley hinge combination expansion component includes: a lower fixed pulley 12, an upper fixed pulley 13, a lever hinge 14, a moving hinge 15, and a fixed hinge 16. The lower fixed pulley 12 is installed on the static platform 1 by bolt connection, and the upper fixed pulley 13 is installed on the guide sleeve 3 by rod connection. The lever hinge 14, the moving hinge 15 and the fixed hinge 16 are connected by rods, and the fixed hinge 16 is installed on the guide sleeve 3 by bolts. One end of the steel wire rope 10 is connected to the rope interface 8, and the other end of the steel wire rope 10 passes through the guide column 9, bypasses the lower fixed pulley 12 and the upper fixed pulley 13, and is connected to the moving hinge 15; the middle section of the steel wire rope 10 is provided with a margin tension spring 11.

[0044] The starting end of the wire rope 10 is installed on the rope interface 8, and the end passes through the lower fixed pulley 12 and is connected to the upper fixed pulley 13 to the moving hinge 15, which pulls and drives the moving hinge 15; the allowance tension spring 11 is connected in series to the middle section of the wire rope 10, which compensates for the change in the length of the rope and ensures the synchronization of the multiple locking devices; the lower fixed pulley 12 is installed on the static platform 1 by bolt connection, and the upper fixed pulley 13 is installed on the guide sleeve 3 by rod connection. The lever hinge 14, the moving hinge 15, and the fixed hinge 16 are connected by rods. The fixed hinge 16 is installed on the guide sleeve 3 by bolts, and the lever hinge 14 is installed on the driving end of the primary lever 17.

[0045] A pulley hinge combined expansion mechanism is provided at the end of the transmission device, and its function is to change the direction of the pulling force of the steel wire rope 10, so that the rope system can also remain horizontal when the branch chain deflects, thereby ensuring the stability of the driving force. If the steel wire rope 10 is directly connected to the driving end of the primary lever 17, when the branch chain deflects due to the movement of the platform, the position of the driving end of the primary lever 17 will change greatly, thereby causing a large change in the length of the rope system, and the direction of the rope system will also be greatly deflected, causing changes in the size and direction of the driving force, which is not conducive to the stability of the system; a pulley hinge combined expansion mechanism is added, and the steel wire rope 10 is passed around the lower fixed pulley 12 and the upper fixed pulley 13, so that it is vertically connected to the motion hinge 15; the motion hinge 15 is connected to the lever hinge 14 and the fixed hinge 16 through a rod to form an umbrella-shaped structure, and the motion hinge 15 is connected to the primary lever 17 as the end moving component of the transmission device and the driving component of the locking device. When the locking operation is in progress, the wire rope 10 is retracted, and the pulling motion hinge 15 moves downward, so that the lever hinge 14 moves outward, driving the primary lever 17 to deflect, so that the clamping block 19 presses the friction block 22 against the clamping surface 5, completing the locking operation.

[0046] The other components and connection relationships of this embodiment are the same as those of the first, second, third, fourth or fifth embodiment.

[0047] Specific implementation method seven: Combination Figure 1 To explain this embodiment, the guide column 9 of this embodiment is provided with a through hole for passing the steel wire rope 10 .

[0048] The other components and connection relationships of this embodiment are the same as those of the specific embodiments one, two, three, four, five or six.

[0049] Specific implementation method eight: Combination Figure 1 and Figure 3To illustrate this embodiment, the locking assembly described in this embodiment includes a primary lever 17, a primary hinge 18, a clamping block 19, a secondary lever 20, a secondary hinge 21, a friction block 22 and a reset compression spring 23. The primary hinge 18 and the secondary hinge 21 are both mounted on the guide sleeve 3 by bolts. The middle part of the primary lever 17 is connected to the primary hinge 18, and its driving end is connected to the lever hinge 14, and the clamping block 19 is installed on the active end; the clamping block 19 is installed on the end of the primary lever 17 by bolts; it is used to push the friction block 22 to move; the starting end of the secondary lever 20 is connected to the secondary hinge 21, and the end is installed with the friction block 22; the friction block 22 is installed on the active end of the secondary hinge 21 by bolts, and during operation, it is tightly fitted with the clamping surface 5 under the action of the clamping block 19, generating a sufficiently large friction force to improve the overall stiffness and realize the posture maintaining function; one end of the reset compression spring 23 is installed on the guide sleeve 3, and the other end is installed on the middle section of the secondary lever 20. When working, the clamping force provided by the clamping block 19 will be greater than the elastic force of the return compression spring 23, driving the friction block 22 to move. When not working, its elastic force causes the friction block 22 to leave the clamping surface 5, thereby releasing the posture holding state.

[0050] The locking assembly as a whole is embodied as a double lever overlapping structure. If only a single lever is relied upon to drive the friction block 22 to be close to the pressing surface 5, since the direction of the lever driving force is not perpendicular to the friction block downward, the oblique edge of the friction block 22 may contact the pressing surface 5, thereby greatly reducing the pressing area and failing to ensure the reliability of the locking force. With a double lever overlapping structure, when the primary lever 17 is driven, it will drive the pressing block 19 to move downward, directly applying downward pressure to the friction block 22, so that the friction block 22 moves downward perpendicular to the pressing surface 5, ensuring that it is fully and tightly fitted with the pressing surface 5, maximizing the contact area, and ensuring the stability and reliability of the locking force. At the end of the locking work, the primary lever 17 cancels the driving force, and under the action of the reset compression spring 23, the secondary lever 20 rotates with the secondary hinge 21 as the center of the circle to drive the friction block 22 away from the pressing surface 5, and the locking force is released.

[0051] The other components and connection relationships of this embodiment are the same as those of the specific embodiments one, two, three, four, five, six or seven.

[0052] Specific implementation method nine: Combination Figure 1 In this embodiment, the friction block 22 is made of tungsten carbide, which is a space-grade material with a high friction coefficient.

[0053] The other components and connection relationships of this embodiment are the same as those of the specific embodiments one, two, three, four, five, six, seven or eight.

[0054] Specific implementation method ten: Combination Figure 1To explain this embodiment, the friction block 22 in this embodiment is a friction block made of rubber material. Other components and connection relationships of this embodiment are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.

[0055] Specific implementation method eleven: Combination Figure 6 This embodiment is described. In this embodiment, when the parallel platform completes the pointing adjustment and needs to maintain the posture, its working state is as follows: Figure 6 As shown. The matching length between the friction block 22 and the pressing surface 5 is greater than the variation range of the branch chain length. When the branch chain length changes, it can ensure that the friction block 22 can be closely matched with the pressing surface 5; under the action of the double lever overlapping structure, the pressing block 19 applies vertical downward pressure to the friction block 22 to ensure the contact area between the friction block 22 and the pressing surface 5; the change in the branch chain length causes the branch chain angle to deflect. Under the action of the pulley hinge combined expansion mechanism, when the branch chain deflects, the rope system 10 remains horizontal, and the driving force direction does not change, ensuring the stability of the driving force.

[0056] How it works

[0057] When the parallel platform needs to enter the posture locking state, the torque motor 6 starts to drive the rope drum 7 to rotate. The rotation of the rope drum 7 drives the wire rope 10 to be tightened and recovered. The wire rope 10 overcomes the elastic force of the margin tension spring 11 to drive the locking device connected at the end, so that the motion hinge 15 moves downward, thereby causing the lever hinge 14 to expand outward. The lever hinge 14 is located at the starting end of the primary lever 17. Its outward movement will cause the end of the primary lever 17 to move inward, so that the clamping block 19 directly applies pressure to the friction block 22. The pressure overcomes the elastic force of the reset compression spring 23, drives the friction block 22 to move inward, fits tightly with the clamping surface 5 and generates a sufficiently large static friction force, thereby achieving the maintenance of the branch chain length, that is, completing the locking goal of the parallel platform posture.

[0058] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A parallel platform attitude holding mechanism based on rope drive, characterized in that: The parallel platform posture holding mechanism based on rope drive comprises a static platform (1), a dynamic platform (2), a locking branch chain assembly, a driving assembly, a transmission device and a locking assembly, wherein the static platform (1) and the dynamic platform (2) are arranged horizontally from bottom to top, the driving assembly is installed at the center position of the upper surface of the static platform (1), the locking branch chain assembly is installed between the static platform (1) and the dynamic platform (2), the driving assembly is connected to the locking assembly via the transmission device, and the locking assembly is connected to the locking branch chain assembly; The locking branch chain assembly comprises a guide sleeve (3), a guide rod (4) and a pressing surface (5); the lower end of the guide sleeve (3) is mounted on the upper surface of the static platform (1) through a hinge, the lower end of the guide rod (4) is inserted into the upper end of the guide sleeve (3), the upper end of the guide rod (4) is connected to the lower surface of the dynamic platform (2), and the side wall of the upper part of the guide rod (4) is provided with a pressing surface (5); The driving assembly comprises a torque motor (6), a rope drum (7), a rope interface (8) and a guide column (9); the torque motor (6) is mounted at the center of the upper surface of the static platform (1); the output shaft of the torque motor (6) is connected to the rope drum (7) via a coupling; the outer circumference of the rope drum (7) is evenly distributed with a plurality of rope interfaces (8) along its circumferential direction; each rope interface (8) is connected to a conducting device; and the guide column (9) is mounted on the static platform (1); The transmission device comprises a steel wire rope (10), a margin tension spring (11) and a pulley hinge combination expansion component, wherein the pulley hinge combination expansion component comprises: a lower fixed pulley (12), an upper fixed pulley (13), a lever hinge (14), a moving hinge (15) and a fixed hinge (16), wherein the lower fixed pulley (12) is installed on the static platform (1) by bolt connection, the upper fixed pulley (13) is installed on the guide sleeve (3) by rod connection, the lever hinge (14), the moving hinge (15) and the fixed hinge (16) are connected by rods, the fixed hinge (16) is installed on the guide sleeve (3) by bolts, one end of the steel wire rope (10) is connected to the rope interface 8, the other end of the steel wire rope (10) passes through the guide column (9), bypasses the lower fixed pulley (12) and the upper fixed pulley (13), and is connected to the moving hinge (15); a margin tension spring (11) is provided in the middle section of the steel wire rope (10); The locking assembly comprises a primary lever (17), a primary hinge (18), a clamping block (19), a secondary lever (20), a secondary hinge (21), a friction block (22) and a return pressure spring (23). The primary hinge (18) and the secondary hinge (21) are both mounted on the guide sleeve (3) by bolts. The middle part of the primary lever (17) is connected to the primary hinge (18), the driving end of the primary lever (17) is connected to the lever hinge (14), and the action end is mounted with the clamping block (19); the clamping block (19) is mounted on the end of the primary lever (17) by bolts; the starting end of the secondary lever (20) is connected to the secondary hinge (21), and the end is mounted with the friction block (22); one end of the return pressure spring (23) is mounted on the guide sleeve (3), and the other end is mounted on the middle part of the secondary lever (20).

2. The rope-driven parallel platform attitude maintaining mechanism according to claim 1, characterized in that: The guide rod (4) comprises a lower connecting section and an upper connecting section, the diameter of the lower connecting section is smaller than that of the upper connecting section, the lower end of the lower connecting section is connected to the guide sleeve (3), and the upper end of the upper connecting section is connected to the lower surface of the moving platform (2).

3. The rope-driven parallel platform attitude maintaining mechanism according to claim 1, characterized in that: The number of the locking branch chain components is 2 to 3.

4. The rope-driven parallel platform attitude maintaining mechanism according to claim 1, characterized in that: The guide column (9) is provided with a through hole for passing the steel wire rope (10).

5. The rope-driven parallel platform attitude maintaining mechanism according to claim 1, characterized in that: The friction block (22) is a friction block made of tungsten carbide.

6. A rope-driven parallel platform attitude maintaining mechanism according to any one of claims 5, characterized in that: The friction block (22) is a friction block made of rubber material.

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