A six-degree-of-freedom parallel platform based on an articulated point driven by a planetary gear set

Abstract

The present invention relates to the technical field of robots, and particularly to a six-degree-of-freedom parallel platform with articulated points driven by a planetary gear set, including an upper platform and an integrated lower platform. A power cylinder is provided between the upper platform and the integrated lower platform, and the power cylinder and the integrated lower platform are used to realize the movement of the six-degree-of-freedom parallel platform in six degrees of freedom in space; an installation base is provided at the top of the integrated lower platform. The integrated lower platform includes a motor, a central gear, a pinion gear, and an internal gear ring. The motor is connected to the installation base, the output shaft of the motor is connected to the central gear, the central gear is rotatably connected to the center of the integrated lower platform, the internal gear ring is arranged outside the central gear, and the pinion gear is simultaneously engaged with the outside of the central gear and the inside of the internal gear ring; the pinion gear is connected to the lower hinge, and an arc-shaped through rail for the movement of the pinion gear and the lower hinge is provided on the installation base. The present invention can increase the movement space and load-bearing capacity of the platform without increasing the floor space of the platform and replacing components.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a six-degree-of-freedom parallel platform based on an articulated point driven by a planetary gear set. Background Art

[0002] A six-degree-of-freedom parallel platform can achieve the movement of the platform in six degrees of freedom in space, that is, it can complete the linear displacement along the three coordinate axes of x, y, and z and the rotation around the three coordinate axes of x, y, and z in a three-dimensional coordinate system. Due to its unique characteristics such as high control precision, compact structure, high stiffness, high load-to-weight ratio, and no cumulative error, the six-degree-of-freedom parallel platform is widely used in many fields such as vibration simulation, space science, motion simulation, medical treatment, and industrial control, and has become a new research hotspot. The six-degree-of-freedom parallel platform can simulate various spatial positions and complete various complex motion simulations, so it is widely used in various training simulators, such as ship simulators, flight simulators, vehicle driving simulators, multi-degree-of-freedom vibration swing tables, and other fields.

[0003] Although the six-degree-of-freedom parallel platform has a wide range of applications, there are the following several prominent problems in the existing six-degree-of-freedom parallel platform:

[0004] (1) In the existing six-degree-of-freedom parallel platform, the lower articulated point and the lower platform generally adopt a fixed connection method. After the six-degree-of-freedom parallel platform with this connection method is designed and formed, the achievable motion space is a definite value. If you want to increase the motion space, you can only replace the components of the six-degree-of-freedom parallel platform or increase the floor area of the six-degree-of-freedom parallel platform. This method is not only cumbersome but also will generate huge replacement costs.

[0005] (2) The existing six-degree-of-freedom platform cannot change the inclination angle of the power cylinder on the original basis, and the load-bearing capacity of the six-degree-of-freedom parallel platform is affected by the six power cylinders and their distribution angles, resulting in a limited load-bearing capacity of the six-degree-of-freedom parallel platform.

[0006] Therefore, there is an urgent need to provide a six-degree-of-freedom parallel platform to increase the motion space and load-bearing capacity of the platform. Summary of the Invention

[0007] In view of the deficiencies of the existing technology, the present invention provides a six-degree-of-freedom parallel platform based on an articulated point driven by a planetary gear set. By driving a planetary gear set composed of a central gear, a pinion gear, and an internal gear ring by a motor, the relative position of the lower articulated point is changed, so as to increase the motion space and load-bearing capacity of the platform without increasing the floor area of the entire six-degree-of-freedom parallel platform and replacing components.

[0008] The technical solution of the present invention to solve the above technical problems is as follows:

[0009] A six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set, comprising an upper platform and an integrated lower platform. A power cylinder is provided between the upper platform and the integrated lower platform. The top of the power cylinder is articulated with the upper platform through an upper hinge, and the bottom of the power cylinder is articulated with the integrated lower platform through a lower hinge. The power cylinder and the integrated lower platform are used to realize the movement of the six-degree-of-freedom parallel platform in six degrees of freedom in space. An installation base is provided on the top of the integrated lower platform. The integrated lower platform includes a motor, a central gear, a pinion gear, and an internal gear ring. The motor is connected to the installation base, the output shaft of the motor is connected to the central gear, the central gear is rotatably connected to the center of the integrated lower platform, the internal gear ring is arranged outside the central gear, and the pinion gear is simultaneously meshed with the outside of the central gear and the inside of the internal gear ring. The pinion gear is connected to the lower hinge, and an arc through-rail for the movement of the pinion gear and the lower hinge is provided on the installation base.

[0010] By adopting the above technical solution, at the initial position, the inclination angle between the power cylinder and the horizontal plane is the smallest. The smaller the inclination angle between the power cylinder and the horizontal plane, the smaller the elongation of the power cylinder is converted into the displacement and load-bearing capacity of the upper platform of the six-degree-of-freedom parallel platform along the z-axis direction. When the movement space of the six-degree-of-freedom parallel platform at the initial position cannot meet the requirements, the motor can be started. The output shaft of the motor drives the central gear to rotate. While the central gear drives the pinion gear meshed with it to rotate, since the pinion gear is connected to the lower hinge and an arc through-rail for the movement of the pinion gear and the lower hinge is provided on the installation base, the pinion gear drives the connected lower hinge to rotate along the arc through-rail, and the inclination angle between the power cylinder and the horizontal plane will increase with the increase of the rotation angle of the central gear. At this time, the elongation of the power cylinder is converted into the displacement and load-bearing of the upper platform along the z-axis direction will increase, realizing the expansion of the movement space of the six-degree-of-freedom parallel platform along the z-axis and the improvement of the load-bearing capacity. Therefore, the six-degree-of-freedom parallel platform can, on the basis of not expanding the occupied space and replacing components, change the position of the lower articulated point through the planetary gear set according to the actual industrial control requirements, and then change the movement space and load-bearing capacity of the entire six-degree-of-freedom parallel platform, realizing the efficient and rapid utilization of the six-degree-of-freedom parallel platform.

[0011] Furthermore, there are six power cylinders in total, and the lower hinge is a vertical Hooke's joint.

[0012] By adopting the above technical solution, using six power cylinders can realize the movement of the six-degree-of-freedom parallel platform in six degrees of freedom in space. The six-degree-of-freedom parallel platform is connected to the lower hinge by a planetary gear set. Therefore, when the planetary gear set operates, it will simultaneously drive the connected lower hinge to rotate, which will cause too many degrees of freedom of the six-degree-of-freedom parallel platform. Therefore, the lower hinge adopts a vertical Hooke's joint, and the vertical Hooke's joint can split the two rotational degrees of freedom generated by the conventional cross-axis Hooke's joint.

[0013] Further, the hinge points of the upper hinge and the upper platform are B1, B2, B3, B4, B5, and B6 in sequence. The angle between any two of the three hinge points B1, B3, and B5 and the center of the upper platform is 120°, and the angle between any two of the three hinge points B2, B4, and B6 and the center of the upper platform is 120°.

[0014] Further, the initial positions of the hinge points of the lower hinge and the integrated lower platform are A1, A2, A3, A4, A5, and A6 in sequence. The angle between any two of the three hinge points A1, A3, and A5 and the center of the integrated lower platform is 120°, and the angle between any two of the three hinge points A2, A4, and A6 and the center of the integrated lower platform is 120°.

[0015] Further, A1 and B1, A2 and B2, A3 and B3, A4 and B4, A5 and B5, and A6 and B6 respectively correspond to six power cylinders, that is, A1 and B1 correspond to the bottom end and the top end of the same power cylinder, A2 and B2 correspond to the bottom end and the top end of the same power cylinder, A3 and B3 correspond to the bottom end and the top end of the same power cylinder, A4 and B4 correspond to the bottom end and the top end of the same power cylinder, A5 and B5 correspond to the bottom end and the top end of the same power cylinder, and A6 and B6 correspond to the bottom end and the top end of the same power cylinder.

[0016] Further, the arc through-track is formed on a circle with the distance from the hinge point of the lower hinge to the center of the integrated lower platform as the radius, and there are three arc through-tracks.

[0017] Further, the three arc through-tracks are A2-a2, A4-a4, and A6-a6 respectively. The a2 is located between A1 and A2, the a4 is located between A3 and A4, and the a6 is located between A5 and A6.

[0018] Further, the arc length of A1-a2 is greater than the arc length of B1-B2, the arc length of A3-a4 is greater than the arc length of B3-B4, and the arc length of A5-a6 is greater than the arc length of B5-B6.

[0019] By adopting the above technical solution, during initial installation, six upper hinges are respectively installed on the upper hinge points B1, B2, B3, B4, B5 and B6. Among the six lower hinges, three non-adjacent lower hinges are respectively installed on the three fixed points of the lower hinge points A1, A3 and A5, and the remaining three non-adjacent lower hinges are respectively installed between the three arc through-tracks A2-a2, A4-a4 and A6-a6 and are respectively connected to three small gears. Among them, the upper and lower hinge points are arranged according to the distribution positions of the standard six-degree-of-freedom parallel platform, and the angle between two spaced hinge points and the center of the upper platform is 120°. At this time, the coordinates of the upper and lower hinge points, the motion space and the load-bearing capacity of the six-degree-of-freedom parallel platform are all determined values;

[0020] When the motion space of the six-degree-of-freedom parallel platform in the initial position cannot meet the requirements, at this time, the motor can be started. The output shaft of the motor drives the central gear to rotate. While the central gear drives the three small gears meshing with it to rotate, since the three small gears are connected to three of the lower hinges, and three arc through-tracks for the movement of the three small gears and the three lower hinges are provided on the installation base, the three small gears and the three lower hinges corresponding to the positions of the three hinge points A2, A4 and A6 rotate from the three points A2, A4 and A6 along the three arc through-tracks A2-a2, A4-a4 and A6-a6 of the installation base to a2, a4 and a6 respectively;

[0021] Since when the lower hinges are located at the three points A2, A4 and A6, the inclination angles of the power cylinders respectively connecting the three upper hinge points B2, B4 and B6 with the horizontal plane are the smallest at this time. The smaller the inclination angle of the power cylinder with the horizontal plane, the smaller the displacement and the load-bearing capacity of the elongation of the power cylinder converted into the displacement of the upper platform of the six-degree-of-freedom parallel platform along the z-axis; therefore, when the small gears and the lower hinges rotate from A2, A4 and A6 to a2, a4 and a6 respectively, the inclination angle of the power cylinder with the horizontal plane will increase with the increase of the rotation angle of the central gear. At this time, the elongation of the power cylinder converted into the displacement of the upper platform along the z-axis and the load-bearing will increase, realizing the expansion of the motion space of the six-degree-of-freedom parallel platform along the z-axis and the improvement of the load-bearing capacity.

[0022] Furthermore, the vertical Hooke hinge includes an ear seat, an ear shaft and a hinge seat. The ear seat is connected to the bottom of the power cylinder. The ear seat and the ear shaft are connected by a pin shaft and rotate relative to the pin shaft. The ear shaft rotates in the hinge seat, and the hinge seat is connected to the small gear.

[0023] By adopting the above technical solution, the connection between the top of the lower hinge and the bottom of the power cylinder and the connection between the bottom of the lower hinge and the small gear are realized.

[0024] Furthermore, the upper hinge is a Hooke hinge.

[0025] By adopting the above technical solution, the Hooke's joint is connected by a cross shaft in the middle, mainly used to realize the change of the spatial angle between two connecting parts. The Hooke's joint can provide two rotational degrees of freedom, equivalent to two rotational pairs with intersecting axes.

[0026] Furthermore, the integrated lower platform further includes a lower base, and the mounting base, the internal gear ring and the lower base are connected to each other.

[0027] By adopting the above technical solution, the connection among the mounting base, the internal gear ring and the lower base of the integrated lower platform is realized.

[0028] Furthermore, the power cylinder is selected from a hydraulic cylinder, an electric cylinder or a pneumatic cylinder.

[0029] In summary, compared with the prior art, the beneficial effects of the above technical solution are as follows:

[0030] (1) The present invention realizes the precise adjustment of the position of the lower hinge point driven by the planetary gear set composed of the central gear, the pinion gear and the internal gear ring. Specifically, by combining the planetary gear set with the lower platform of the six-degree-of-freedom parallel platform, the position of the lower hinge point of the six-degree-of-freedom parallel platform can be adjusted. Without expanding the original occupied space of the six-degree-of-freedom parallel platform and replacing components, the movement space of the six-degree-of-freedom parallel platform is increased, and the change in the position of the lower hinge point will also increase the load-bearing capacity of the upper platform of the six-degree-of-freedom parallel platform on the original basis;

[0031] (2) Due to the expanded movement space and increased load-bearing capacity, the six-degree-of-freedom parallel platform of the present invention has a more universal application range in the fields of motion simulation, wave compensation, etc.;

[0032] (3) The present invention can improve the use efficiency of the six-degree-of-freedom parallel platform, save the production and manufacturing costs of the six-degree-of-freedom parallel platform, and increase the flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is the front view of the overall structure of the present invention;

[0034] Figure 2 is the perspective view of the overall structure of the present invention;

[0035] Figure 3 is the structural schematic diagram of the present invention highlighting the planetary gear set;

[0036] Figure 4 is the structural schematic diagram of the present invention highlighting the lower hinge;

[0037] Figure 5 is the structural schematic diagram of the present invention highlighting the bottom of the planetary gear set;

[0038] Figure 6This is a top view highlighting the planetary gear set of the present invention;

[0039] Figure 7 This is a schematic diagram highlighting the distribution of the upper hinge point and the lower hinge point of the present invention.

[0040] Explanation of reference numerals: 101, upper platform; 102, upper hinge; 103, power cylinder; 104, lower hinge; 105, mounting base; 2, integrated lower platform; 201, motor; 202, pinion gear; 203, central gear; 204, internal gear ring; 205, lower base; 104-1, ear seat; 104-2, trunnion; 104-3, hinge base. Detailed implementation manners

[0041] The following Figures 1-7 describes the principles and features of the present invention. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0042] An embodiment of the present invention discloses a six-degree-of-freedom parallel platform driven by a planetary gear set to drive a lower hinge point.

[0043] Referring Figures 1-7 , a six-degree-of-freedom parallel platform driven by a planetary gear set to drive a lower hinge point includes an upper platform 101 and an integrated lower platform 2. Six power cylinders 103 are provided between the upper platform 101 and the integrated lower platform 2. The top of each power cylinder 103 is hinged to the upper platform 101 through an upper hinge 102, and the bottom of each power cylinder 103 is hinged to the integrated lower platform 2 through a lower hinge 104. The integrated lower platform 2 includes a motor 201 and a planetary gear set. By driving the planetary gear set with the motor 201 to precisely adjust the position of the lower hinge point, the movement space and load-bearing capacity of the platform can be increased without increasing the floor area of the entire six-degree-of-freedom parallel platform and replacing components.

[0044] The upper hinge 102 is a Hooke's joint. The middle of the Hooke's joint is connected by a cross shaft, which is mainly used to realize the change of the spatial angle between two connecting parts. The Hooke's joint can provide two rotational degrees of freedom, equivalent to two rotating pairs with intersecting axes.

[0045] The hinge point positions of the upper hinge 102 and the upper platform 101 are B1, B2, B3, B4, B5, and B6 in sequence. The angle between any two of the three hinge points B1, B3, and B5 and the center of the upper platform 101 is 120°, and the angle between any two of the three hinge points B2, B4, and B6 and the center of the upper platform 101 is 120°, as Figure 7 shown.

[0046] Six upper hinges 102 correspond to six power cylinders 103. The power cylinders 103 are selected from hydraulic cylinders, electric cylinders, air cylinders, etc., and can be selected according to different application scenarios.

[0047] The six-degree-of-freedom parallel platform is connected to the lower hinge 104 by a planetary gear set. Therefore, when the planetary gear set operates, it will drive the connected lower hinge 104 to rotate simultaneously, which will cause too many degrees of freedom of the six-degree-of-freedom parallel platform. Therefore, the lower hinge 104 adopts a vertical Hooke joint, and the vertical Hooke joint can split the two rotational degrees of freedom generated by the conventional cross-axis Hooke joint.

[0048] The vertical Hooke joint includes an ear seat 104-1, an ear shaft 104-2, and a hinge seat 104-3. The ear seat 104-1 is connected to the bottom of the power cylinder 103. The ear seat 104-1 and the ear shaft 104-2 are connected by a pin shaft and rotate relative to the pin shaft. The ear shaft 104-2 rotates within the hinge seat 104-3, and the hinge seat 104-3 is connected to the planetary gear set, realizing the connection between the top of the lower hinge 104 and the bottom of the power cylinder 103, and the connection between the bottom of the lower hinge 104 and the planetary gear set.

[0049] The initial positions of the hinge points of the lower hinge 104 and the integrated lower platform 2 are A1, A2, A3, A4, A5, and A6 in sequence. The angle between any two of the three hinge points A1, A3, and A5 and the center of the integrated lower platform 2 is 120°, and the angle between any two of the three hinge points A2, A4, and A6 and the center of the integrated lower platform 2 is 120°, as Figure 7 shown.

[0050] A1 and B1, A2 and B2, A3 and B3, A4 and B4, A5 and B5, A6 and B6 respectively correspond to the six power cylinders 103, that is, A1 and B1 correspond to the bottom end and the top end of the same power cylinder 103, A2 and B2 correspond to the bottom end and the top end of the same power cylinder 103, A3 and B3 correspond to the bottom end and the top end of the same power cylinder 103, A4 and B4 correspond to the bottom end and the top end of the same power cylinder 103, A5 and B5 correspond to the bottom end and the top end of the same power cylinder 103, and A6 and B6 correspond to the bottom end and the top end of the same power cylinder 103.

[0051] An installation base 105 is provided at the top of the integrated lower platform 2. The integrated lower platform 2 further includes a lower base 205, and the lower base 205 is connected to the installation base 105. The planetary gear set of the integrated lower platform 2 includes a central gear 203, three pinions 202, and an internal gear ring 204. The motor 201 is connected to the installation base 105, and the output shaft of the motor 201 is connected to the central gear 203. The central gear 203 is rotatably connected to the center of the integrated lower platform 2. The internal gear ring 204 is disposed outside the central gear 203, and the internal gear ring 204 is fixedly connected to the lower base 205. The pinions 202 are simultaneously meshed with the outside of the central gear 203 and the inside of the internal gear ring 204. The pinions 202 are fixedly connected to the hinge seats 104-3 of the lower hinges 104. An arc through-rail for the movement of the pinions 202 and the lower hinges 104 is provided on the installation base 105.

[0052] Specifically, the arc through-rail is formed on a circle with the distance from the hinge point of the lower hinge 104 to the center of the integrated lower platform 2 as the radius. There are three arc through-rails, namely A2-a2, A4-a4, and A6-a6. The a2 is located between A1 and A2, the a4 is located between A3 and A4, and the a6 is located between A5 and A6. And the positions of the three hinge points a2, a4, and a6 should ensure that the arc length of A1-a2 is greater than the arc length of B1-B2, the arc length of A3-a4 is greater than the arc length of B3-B4, and the arc length of A5-a6 is greater than the arc length of B5-B6, as Figure 2 , Figure 5 and Figure 7 shown.

[0053] When the six-degree-of-freedom parallel platform is initially installed, the six upper hinges 102 are respectively installed on the upper hinge points B1, B2, B3, B4, B5, and B6. Among the six lower hinges 104, three non-adjacent lower hinges 104 are respectively installed on the three fixed points A1, A3, and A5 of the lower hinge points, and the remaining three non-adjacent lower hinges 104 are respectively installed between the three arc through-rails A2-a2, A4-a4, and A6-a6 and are respectively connected to the three pinions 202. Among them, according to the distribution positions of the upper and lower hinge points of the standard six-degree-of-freedom parallel platform, the included angles between the two spaced hinge points and the center of the upper platform 101 are both 120°. At this time, the coordinates of the upper and lower hinge points and the motion space and load-bearing capacity of the six-degree-of-freedom parallel platform are all determined values.

[0054] When the motion space of the six-degree-of-freedom parallel platform at the initial position cannot meet the requirements, the motor 201 can be started at this time. The output shaft of the motor 201 drives the central gear 203 to rotate. While the central gear 203 drives the three small gears 202 meshing with it to rotate, since the three small gears 202 are connected to three of the lower hinges 104, and three arc through-tracks for the movement of the three small gears 202 and the three lower hinges 104 are provided on the mounting base 105, the three small gears 202 and the three lower hinges 104 corresponding to the positions of the three hinge points A2, A4, and A6 rotate from the three points A2, A4, and A6 along the three arc through-tracks A2-a2, A4-a4, and A6-a6 of the mounting base 105 to a2, a4, and a6 respectively.

[0055] Since the lower hinge 104 is located at the three points A2, A4, and A6, the inclination angles of the power cylinders 103 respectively connecting the three upper hinge points B2, B4, and B6 with the horizontal plane are the smallest at this time. The smaller the inclination angle of the power cylinder 103 with the horizontal plane, the smaller the displacement and load-bearing capacity of the upper platform 101 of the six-degree-of-freedom parallel platform in the z-axis direction converted from the elongation of the power cylinder 103; therefore, when the small gears 202 and the lower hinges 104 rotate from A2, A4, and A6 to a2, a4, and a6 respectively, the inclination angle of the power cylinder 103 with the horizontal plane will increase with the increase of the rotation angle of the central gear 203. At this time, the displacement and load-bearing of the upper platform 101 in the z-axis direction converted from the elongation of the power cylinder 103 will increase, realizing the expansion of the motion space of the six-degree-of-freedom parallel platform in the z-axis direction and the improvement of the load-bearing capacity.

[0056] When the motor 201 rotates in the reverse direction, the three lower hinges 104 respectively connected to the three small gears 202 rotate in the reverse direction under the drive of the central gear 203, rotating from a2, a4, and a6 to A2, A4, and A6 respectively. At this time, the inclination angle of the power cylinder 103 relative to the horizontal plane becomes smaller, the displacement of the elongation of the power cylinder 103 converted in the z-axis direction decreases, and the displacement in the x and y axes increases, realizing the adjustment of the motion space.

[0057] In summary, without expanding the floor space and replacing components, the six-degree-of-freedom parallel platform can change the position of the lower hinge points through the planetary gear set according to the actual industrial control requirements, thereby changing the motion space and load-bearing capacity of the entire six-degree-of-freedom parallel platform, realizing the efficient and rapid utilization of the six-degree-of-freedom parallel platform.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set, comprising an upper platform (101), characterized in that: It further includes an integrated lower platform (2). A power cylinder (103) is provided between the upper platform (101) and the integrated lower platform (2). The top of the power cylinder (103) is hinged to the upper platform (101) through an upper hinge (102), and the bottom of the power cylinder (103) is hinged to the integrated lower platform (2) through a lower hinge (104). The power cylinder (103) and the integrated lower platform (2) are used to realize the movement of the six-degree-of-freedom parallel platform in six degrees of freedom in space. An installation base (105) is provided on the top of the integrated lower platform (2). The integrated lower platform (2) includes a motor (201), a central gear (203), a pinion (202), and an internal gear ring (204). The motor (201) is connected to the installation base (105), the output shaft of the motor (201) is connected to the central gear (203), the central gear (203) is rotatably connected to the center of the integrated lower platform (2), the internal gear ring (204) is arranged outside the central gear (203), and the pinion (202) is simultaneously engaged with the outside of the central gear (203) and the inside of the internal gear ring (204). The pinion (202) is connected to the lower hinge (104), and an arc through-rail for the movement of the pinion (202) and the lower hinge (104) is provided on the installation base (105). The lower hinge (104) is a vertical Hooke hinge. The initial positions of the hinge points of the lower hinge (104) and the integrated lower platform (2) are A1, A2, A3, A4, A5, and A6 in sequence. There are three arc through-rails, and the three arc through-rails are A2-a2, A4-a4, and A6-a6 respectively. Among the six lower hinges (104), three non-adjacent lower hinges (104) are respectively installed at three fixed points of the lower hinge points A1, A3, and A5, and the remaining three non-adjacent lower hinges (104) are respectively installed between the three arc through-rails of A2-a2, A4-a4, and A6-a6, and are respectively connected to the three pinions (202).

2. The six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set according to claim 1, wherein: There are six power cylinders (103) in total.

3. The six-degree-of-freedom parallel platform based on the articulated point driven by a planetary gear set according to claim 2, wherein: The hinge point positions of the upper hinge (102) and the upper platform (101) are B1, B2, B3, B4, B5, and B6 in sequence. The angle between any two of the three hinge points B1, B3, and B5 and the center of the upper platform (101) is 120°, and the angle between any two of the three hinge points B2, B4, and B6 and the center of the upper platform (101) is 120°.

4. A six-degree-of-freedom parallel platform based on an articulated point driven by a planetary gear set according to claim 3, characterized in that: The angle between any two of the three hinge points A1, A3, and A5 and the center of the integrated lower platform (2) is 120°, and the angle between any two of the three hinge points A2, A4, and A6 and the center of the integrated lower platform (2) is 120°. A1 and B1, A2 and B2, A3 and B3, A4 and B4, A5 and B5, and A6 and B6 respectively correspond to the six power cylinders (103).

5. A six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set according to claim 4, characterized in that: The arc through-rail is formed on a circle with the distance from the hinge point of the lower hinge (104) to the center of the integrated lower platform (2) as the radius.

6. The six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set according to claim 5, wherein: The a2 is located between A1 and A2, the a4 is located between A3 and A4, and the a6 is located between A5 and A6.

7. The six-degree-of-freedom parallel platform based on the articulated point driven by a planetary gear set according to claim 6, characterized in that: The arc length of A1 - a2 is greater than the arc length of B1 - B2, the arc length of A3 - a4 is greater than the arc length of B3 - B4, and the arc length of A5 - a6 is greater than the arc length of B5 - B6.

8. A six-degree-of-freedom parallel platform based on a planetary gear set-driven articulated point according to claim 2, characterized in that: The vertical Hooke hinge includes an ear seat (104 - 1), an ear shaft (104 - 2) and a hinge seat (104 - 3). The ear seat (104 - 1) is connected to the bottom of the power cylinder (103). The ear seat (104 - 1) and the ear shaft (104 - 2) are connected by a pin shaft and rotate relative to the pin shaft. The ear shaft (104 - 2) rotates within the hinge seat (104 - 3), and the hinge seat (104 - 3) is connected to the pinion (202).

9. A six-degree-of-freedom parallel platform based on a planetary gear set-driven hinge point according to claim 1, characterized in that: The integrated lower platform (2) further includes a lower base (205), and the mounting base (105), the internal gear ring (204) and the lower base (205) are connected to each other.

10. The six-degree-of-freedom parallel platform with an articulated point driven by a planetary gear set according to claim 1, wherein: The power cylinder (103) is selected from a hydraulic cylinder, an electric cylinder or a pneumatic cylinder.

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