Double-acting platform five-degree-of-freedom parallel mechanism with large dip angle

Abstract

The invention relates to the technical field of parallel mechanisms, in particular to a double-movable-platform five-degree-of-freedom parallel mechanism with a large dip angle, which comprises an upper movable platform, a lower movable platform and a fixed platform which are sequentially and movably arranged from top to bottom, the lower movable platform is movably arranged at one end of the bottom of the upper movable platform, and a first electric telescopic rod used for supporting and adjusting the posture of the upper movable platform is movably arranged at the other end of the bottom of the upper movable platform. A second electric telescopic rod and a fixed-length rod are arranged at the two ends of the bottom of the lower movable platform correspondingly. The limitation of a traditional single-action platform is broken through, local motion decoupling is achieved, the first electric telescopic rod, the second electric telescopic rod and the fixed-length rod are cooperatively controlled to control three-translation and two-rotation of the upper movable platform, the rotation working space of an end effector is greatly enlarged, motion interference is avoided, inverse kinematics calculation is simplified, a force conduction path is shortened, inertia is reduced, and the stability of the robot is improved. The device has high rigidity, large bearing capacity and excellent dynamic response performance, and is suitable for the fields of precision medical treatment, flight simulation, high-end numerical control machining and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parallel mechanism, in particular to a double-movable platform five-degree-of-freedom parallel mechanism with large inclination angle. BACKGROUND

[0002] The parallel mechanism is widely used in many high-end fields due to its unique advantages of spatial closed-loop structure: first, the design of multiple branch chains bearing load together makes the mechanism have high structural stiffness and strong load-carrying capacity; second, the driving motor is usually installed on the fixed platform or near the rack, which greatly reduces the inertia of the moving part and gives the mechanism excellent dynamic response speed and positioning accuracy.

[0003] However, the traditional five-degree-of-freedom parallel mechanism has many technical bottlenecks in practical application:

[0004] All branch chains act directly on a single movable platform, resulting in fierce competition for physical space among branch chains. When the end effector rotates at a large angle or moves over a large range, branch chain collision or joint overrun is likely to occur, and the working space is severely limited.

[0005] The single-platform configuration has significant kinematic coupling problems, and the degrees of freedom are highly related. This not only increases the difficulty of real-time control algorithm solving, but also easily makes the mechanism fall into a singular state at a certain pose, causing a sudden drop in stiffness and accuracy failure.

[0006] The traditional mechanism often needs to increase the mass of the moving parts to maintain high stiffness, which limits the dynamic response frequency of the mechanism.

[0007] Based on the above defects of the prior art, a new parallel mechanism configuration with full-attitude motion capability, large rotation range, high stiffness, high precision, and reasonable load distribution is urgently needed. SUMMARY

[0008] The purpose of the present application is to provide a double-movable platform five-degree-of-freedom parallel mechanism with large inclination angle to solve the problems of limited working space, serious motion interference, prominent kinematic coupling, easy to fall into singular state, and insufficient dynamic response performance of the traditional five-degree-of-freedom parallel mechanism.

[0009] To achieve the above purpose, the present application provides the following technical scheme: a double-movable platform five-degree-of-freedom parallel mechanism with large inclination angle, comprising:

[0010] An upper movable platform, a lower movable platform, and a fixed platform are sequentially arranged from top to bottom.

[0011] The lower movable platform is movably arranged at one end of the bottom of the upper movable platform, and the other end of the bottom of the upper movable platform is movably provided with a first electric telescopic rod for supporting and adjusting the attitude of the upper movable platform.

[0012] Two second electric telescopic rods and two fixed-length rods are arranged at two ends of the bottom of the lower movable platform, and the number of the second electric telescopic rods and the fixed-length rods is two respectively, and the two second electric telescopic rods and the two fixed-length rods are arranged at two sides of the first electric telescopic rod respectively.

[0013] The first electric telescopic rod and the second electric telescopic rod are hingedly connected to the top of the fixed platform, and the bottom of the fixed-length rod is linearly movably connected to the top of the fixed platform, wherein the bottom of the first electric telescopic rod is located on the perpendicular bisector of the connecting line of the bottoms of the two fixed-length rods, and the bottom of the second electric telescopic rod is located on the angle bisector between the connecting line of the bottoms of the two fixed-length rods and the perpendicular bisector, so that the telescopic combination of the first electric telescopic rod and the second electric telescopic rod and the movement combination of the bottoms of the two fixed-length rods drive the upper movable platform to realize the control of five degrees of freedom of three movements and two rotations.

[0014] Preferably, the bottom of the fixed-length rod is fixedly connected with a hooke joint, and the bottom of the hooke joint is hingedly connected with a hooke joint support, the bottom of the hooke joint support is fixedly connected with a sliding block, and the sliding block linearly moves on the top of the fixed platform, and the linear movement tracks of the two sliding blocks are arranged in parallel.

[0015] Preferably, the top of the fixed platform corresponding to the position of the sliding block is fixedly connected with a fixed seat, the top of the fixed seat is fixedly connected with a driving frame, the sliding block is movably connected to the inner wall of the driving frame and linearly moves along the direction of the driving frame.

[0016] Preferably, the middle part of the sliding block is threadedly connected with a lead screw, one end of the lead screw is fixedly connected with a driving motor, and the driving motor is fixedly connected to one end of the driving frame.

[0017] Preferably, the inner wall of the driving frame is fixedly connected with a sliding rail, and the sliding rail is movably connected to the bottom of the sliding block, so as to guide the movement of the sliding block through the sliding rail.

[0018] Preferably, the bottom of the upper movable platform corresponding to the position of the first electric telescopic rod is fixedly connected with a first spherical hinge support, the bottom of the first spherical hinge support is hingedly connected with a first spherical hinge, and the first spherical hinge is fixedly connected to the top of the first electric telescopic rod.

[0019] Preferably, one end of the upper movable platform corresponding to the position of the lower movable platform is fixedly connected with a second hinge seat, the bottom of the second hinge seat is hingedly connected with a second hinge frame, and the second hinge frame is fixedly connected to the top of the lower movable platform.

[0020] Preferably, the bottom of the lower movable platform corresponding to the position of the second electric telescopic rod is fixedly connected with a second spherical hinge support, the bottom of the second spherical hinge support is hingedly connected with a second spherical hinge, and the second spherical hinge is fixedly connected to the top of the second electric telescopic rod.

[0021] Preferably, the bottom of the lower moving platform is fixedly connected to a first hinge seat corresponding to the position of the fixed length rod, and the bottom of the first hinge seat is hinged to a first hinge frame, which is fixedly connected to the top of the fixed length rod.

[0022] Preferably, the two second ball joint supports and the two first hinge supports are symmetrically arranged about the vertical axis of the midpoint of the lower moving platform.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. This invention utilizes a dual-moving platform structure consisting of an upper moving platform and a lower moving platform to spatially decouple the five degrees of freedom. The motion of the end effector is completed collaboratively by the two platforms, effectively avoiding motion interference between branches under a single moving platform and improving the motion flexibility of the mechanism. This invention employs an asymmetrical and targeted spatial distribution: the bottom ends of the upper moving platform are respectively the lower moving platform and the first electric telescopic rod, and the bottom ends of the lower moving platform are respectively the second electric telescopic rod and the fixed-length rod, thereby constructing a stable support benchmark. The second electric telescopic rod and the fixed-length rod collaboratively control the lower moving platform, and the fixed-length rod crosses the lower moving platform to directly drive the upper moving platform, enabling the upper moving platform to perform secondary attitude adjustments based on the position of the lower moving platform, greatly expanding the rotational working space of the mechanism and meeting the requirements for large tilt angle motion.

[0025] 2. This invention also directly drives the lead screw through the output shaft of the drive motor, and the first and second electric telescopic rods work directly, reducing the return error and elastic deformation caused by intermediate transmission links. Simultaneously, the Hooke hinge support and Hooke hinge on the slider greatly shorten the force transmission path from the drive source to the execution end. This compact design reduces the rotational inertia of the motion chains, giving the mechanism superior instantaneous acceleration performance and dynamic response speed, while also improving structural stiffness and positioning accuracy. The serial hierarchical structure of the dual-moving platform achieves local motion decoupling at the physical level. The first electric telescopic rod can independently control the specific posture of the upper moving platform, and the lower moving platform serves as a stable intermediate motion carrier. Compared to the complex coupling state of all branches acting on a single moving platform in traditional parallel mechanisms, this design significantly simplifies the calculation of inverse kinematics, provides a clearer motion allocation strategy for the control system, reduces control difficulty, and avoids the mechanism falling into singular states, ensuring the stability of stiffness and accuracy. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of a five-degree-of-freedom parallel mechanism for a dual-motion platform with a large tilt angle according to the present invention;

[0027] Figure 2 This is a schematic diagram of the upper and lower moving platforms of a five-degree-of-freedom parallel mechanism with a large tilt angle according to the present invention.

[0028] Figure 3 This is a schematic diagram of the first electric telescopic rod structure of a five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to the present invention.

[0029] Figure 4 This is a schematic diagram of the second electric telescopic rod structure of a five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to the present invention.

[0030] Figure 5 This is a schematic diagram of a fixed-length rod structure of a five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to the present invention.

[0031] Figure 6 This is a schematic diagram of a fixed platform structure with a large tilt angle, a five-degree-of-freedom parallel mechanism, and a dual-motion platform.

[0032] In the diagram: 1. Upper moving platform; 2. Lower moving platform; 3. Fixed platform; 4. First electric telescopic rod; 5. Second electric telescopic rod; 6. Fixed length rod; 7. Hooke's hinge; 8. Hooke's hinge support; 9. Slider; 10. Drive frame; 11. Fixed seat; 12. Lead screw; 13. Drive motor; 14. Slide rail; 15. First ball joint support; 16. First ball joint; 17. Second ball joint support; 18. Second ball joint; 19. First articulation seat; 20. First articulation frame; 21. Second articulation seat; 22. Second articulation frame. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1-6 This invention provides a technical solution: a five-degree-of-freedom parallel mechanism for a dual-motion platform with a large tilt angle, comprising:

[0035] The moving platforms 1, 2 and 3 are set up in sequence from top to bottom;

[0036] The lower moving platform 2 is movably set at one end of the bottom of the upper moving platform 1, and the other end of the bottom of the upper moving platform 1 is movably provided with a first electric telescopic rod 4 for supporting and adjusting the posture of the upper moving platform 1;

[0037] The bottom of the lower platform 2 is provided with two electric telescopic rods 5 and two fixed-length rods 6 at its two ends, and there are two electric telescopic rods 5 and two fixed-length rods 6, and the two electric telescopic rods 5 and the two fixed-length rods 6 are located on both sides of the first electric telescopic rod 4.

[0038] The first electric telescopic rod 4 and the second electric telescopic rod 5 are both hinged to the top of the fixed platform 3. The bottom of the fixed-length rod 6 is linearly and movably connected to the top of the fixed platform 3. The bottom of the first electric telescopic rod 4 is located on the perpendicular bisector of the line connecting the bottoms of the two fixed-length rods 6, and the bottom of the second electric telescopic rod 5 is located on the angle bisector between the line connecting the bottoms of the two fixed-length rods 6 and its perpendicular bisector. This allows the telescopic combination of the first electric telescopic rod 4 and the second electric telescopic rod 5, in conjunction with the movement combination of the bottoms of the two fixed-length rods 6, to drive the upper moving platform 1 to achieve control of five degrees of freedom: three translations and two rotations. A first ball joint support 15 is fixedly installed at the bottom of the upper moving platform 1 corresponding to the position of the first electric telescopic rod 4. The bottom of the first ball joint support 15 is hinged to a first ball joint 16, which is fixedly installed on the top of the first electric telescopic rod 4. A second hinge seat 21 is fixedly installed at one end of the lower moving platform 2, and a second hinge frame 22 is hinged to the bottom of the second hinge seat 21. The second hinge frame 22 is fixedly installed on the top of the lower moving platform 2. A second ball hinge support 17 is fixedly installed at the bottom of the lower moving platform 2 corresponding to the position of the second electric telescopic rod 5. A second ball hinge 18 is hinged to the bottom of the second ball hinge support 17, and the second ball hinge 18 is fixedly installed on the top of the second electric telescopic rod 5. A first hinge seat 19 is fixedly installed at the bottom of the lower moving platform 2 corresponding to the position of the fixed length rod 6, and a first hinge frame 20 is hinged to the bottom of the first hinge seat 19. The first hinge frame 20 is fixedly installed on the top of the fixed length rod 6. The two second ball hinge supports 17 and the two first hinge seats 19 are symmetrically arranged about the vertical axis of the midpoint of the lower moving platform 2.

[0039] In use, the fixed-length rod 6 is hinged to the lower moving platform 2 via the first hinge frame 20 and the first hinge seat 19. Simultaneously, the first electric telescopic rod 4 and the second electric telescopic rod 5 can extend and retract when energized. The first electric telescopic rod 4 is hinged to the upper moving platform 1 via the first ball joint 16 and the first ball joint support 15, and the lower moving platform 2 is hinged to the upper moving platform 1 via the second hinge frame 22 and the second hinge seat 21, forming a unique double-moving platform series structure. The second electric telescopic rod 5 is hinged to the lower moving platform 2 via the second ball joint 18 and the second ball joint support 17. The fixed-length rod 6, in conjunction with the first hinge frame 20 and the first hinge seat 19, is hinged to the lower moving platform 2. This allows for different combinations of movement at the bottom of the two fixed-length rods 6, combined with the extension and retraction combinations of the first electric telescopic rod 4 and the second electric telescopic rod 5, to achieve control of the upper moving platform 1 with five degrees of freedom: three movements and two rotations.

[0040] A Hooke's hinge 7 is fixedly installed at the bottom of the fixed-length rod 6, and a Hooke's hinge support 8 is hinged to the bottom of the Hooke's hinge 7. A slider 9 is fixedly installed at the bottom of the Hooke's hinge support 8, and the slider 9 moves linearly on the top of the fixed platform 3. The linear movement trajectories of the two sliders 9 are set in parallel. A fixed seat 11 is fixedly installed at the top of the fixed platform 3 corresponding to the position of the slider 9. A drive frame 10 is fixedly installed at the top of the fixed seat 11. The slider 9 is movably connected to the inner wall of the drive frame 10 and moves linearly along the direction of the drive frame 10. A lead screw 12 is threadedly connected to the middle of the slider 9. The lead screw 12 is rotatably connected to the middle of the drive frame 10 through a bearing. A drive motor 13 is fixedly installed at one end of the lead screw 12, and the drive motor 13 is fixedly installed at one end of the drive frame 10. A slide rail 14 is fixedly installed on the inner wall of the drive frame 10, and the slide rail 14 is movably connected to the bottom of the slider 9 so as to guide the movement of the slider 9 through the slide rail 14.

[0041] In use, the above structure is driven by the energized drive motor 13 to rotate the lead screw 12, which in turn causes the lead screw 12 to move the slider 9 along the direction of the drive frame 10. At the same time, the slider 9 can be guided by the slide rail 14, so that the slider 9 can move smoothly on the inner wall of the drive frame 10. Then, the slider 9 drives the bottom of the fixed length rod 6 to move linearly through the Hooke hinge support 8 and the Hooke hinge 7, and the fixed length rod 6 is hinged to the lower moving platform 2 through the first hinge frame 20 and the first hinge seat 19.

[0042] Working principle: In use, the invention drives the lead screw 12 to rotate when the drive motor 13 is energized, which in turn drives the slider 9 to move along the drive frame 10. Simultaneously, the slide rail 14 guides the movement of the slider 9, allowing it to move smoothly on the inner wall of the drive frame 10. The slider 9, through the Hooke hinge support 8 and the Hooke hinge 7, drives the bottom of the fixed-length rod 6 to move linearly. The fixed-length rod 6 is then hinged to the lower moving platform 2 through the first hinge frame 20 and the first hinge seat 19. Simultaneously, the first electric telescopic rod 4 and the second electric telescopic rod 5 can extend and retract themselves when energized, in conjunction with the first electric... The telescopic rod 4 is hinged to the upper moving platform 1 through the first ball joint 16 and the first ball joint support 15, and the lower moving platform 2 is hinged to the upper moving platform 1 through the second hinge frame 22 and the second hinge seat 21 to form a unique double-moving platform series structure. The second electric telescopic rod 5 is hinged to the lower moving platform 2 through the second ball joint 18 and the second ball joint support 17, and the fixed-length rod 6 is hinged to the lower moving platform 2 in conjunction with the first hinge frame 20 and the first hinge seat 19. Thus, the different movement combinations of the bottom of the two fixed-length rods 6, combined with the telescopic combination of the first electric telescopic rod 4 and the second electric telescopic rod 5, realize the control of the upper moving platform 1 with five degrees of freedom: three movements and two rotations.

[0043] With the length direction of the drive frame 10 as the y-axis, the direction perpendicular to the length of the drive frame 10 as the x-axis, and the z-axis perpendicular to the surface of the fixed platform 3 and pointing from the lower surface to the upper surface, and the x-axis conforming to the right-hand rule, this invention selects the drive motor 13 to drive the lead screw 12 to rotate and move the slider 9, the two second electric telescopic rods 5, and the first electric telescopic rod 4 as active pairs, and can realize the control of the upper moving platform 1 with three translations and two rotations, a total of five degrees of freedom;

[0044] When the slider 9 is moved by the drive motor 13 in conjunction with the lead screw 12, the slider 9 will cause the bottom of the fixed-length rod 6 to move linearly through the Hooke hinge support 8 and the Hooke hinge 7. The fixed-length rod 6 will then be hinged to the lower moving platform 2 through the first hinge frame 20 and the first hinge seat 19. At this time, the movement of the bottom of the fixed-length rod 6, combined with the extension and retraction of the second electric telescopic rod 5, allows the lower moving platform 2 to move along the x-axis and z-axis, and rotate around the x-axis and y-axis, with the following degrees of freedom:

[0045] When the bottoms of the two fixed-length rods 6 move in the same direction, one of the two second electric telescopic rods 5 retracts and the other extends, causing the lower moving platform 2 to rotate around the x-axis.

[0046] When the bottoms of the two fixed-length rods 6 move in opposite directions or towards each other, the two second electric telescopic rods 5 extend and retract synchronously, causing the lower moving platform 2 to move along the x-axis or rotate around the y-axis.

[0047] When the bottoms of the two fixed-length rods 6 are stationary, the two second electric telescopic rods 5 extend and retract synchronously, causing the lower moving platform 2 to move along the z-axis;

[0048] When the first electric telescopic rod 4 extends or retracts, it can realize the degree of freedom of the upper moving platform 1 to rotate around the y-axis.

[0049] This mechanism overcomes the limitations of a single moving platform by adopting a "dual-moving platform series" structure connecting the lower moving platform 2 and the fixed platform 3. Through the cooperation of the second hinge frame 22 and the second hinge seat 21 on the lower moving platform 2, the lower moving platform 2 and the upper moving platform 1 are hinged. This layered design effectively decouples the five degrees of freedom in space, allowing the end effector's motion to be completed collaboratively by the two platforms. The invention employs an asymmetrical and targeted spatial distribution: the lower moving platform 2 and the first electric telescopic rod 4 are located at the bottom ends of the upper moving platform 1, and the second electric telescopic rod 5 and the fixed-length rod 6 are located at the bottom ends of the lower moving platform 2, thus constructing a stable support reference. The second electric telescopic rod 5 and the fixed-length rod 6 collaboratively control the lower moving platform 2, while the first electric telescopic rod 4 spans the lower moving platform 2, directly driving the upper moving platform 1 for attitude adjustment through the first ball joint 16 and the second ball joint support 17. This design allows the upper moving platform 1 to perform secondary attitude adjustments based on the posture of the lower moving platform 2, greatly expanding the mechanism's rotational workspace.

[0050] This invention employs a highly integrated drive scheme. The drive motor 13 directly drives the lead screw 12 through its output shaft, reducing backlash errors and elastic deformation caused by intermediate transmission links. Simultaneously, the Hooke hinge support 8 and Hooke hinge 7 are installed on the slider 9, significantly shortening the force transmission path from the drive source to the execution end. This compact design helps reduce the rotational inertia of the motion chains, enabling the mechanism to possess superior instantaneous acceleration performance and dynamic response speed. The lower moving platform 2 and the fixed platform 3 are connected by the second hinge seat 21 and the second hinge frame 22, forming a unique series hierarchical structure. Compared to the complex coupling state of traditional parallel mechanisms where all chains act on a single moving platform, this design, through this hierarchical relationship, allows the first electric telescopic rod 4 to independently control the specific posture of the upper moving platform 1, while the lower moving platform 2 serves as a stable intermediate motion carrier. This local motion decoupling achieved at the physical level not only simplifies the calculation of inverse kinematics but also provides a clearer motion allocation strategy for the control system.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0052] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle, characterized in that: include: The moving platform (1), moving platform (2), and fixed platform (3) are set up in sequence from top to bottom. The lower moving platform (2) is movably set at one end of the bottom of the upper moving platform (1), and the other end of the bottom of the upper moving platform (1) is movably provided with a first electric telescopic rod (4) for supporting and adjusting the posture of the upper moving platform (1). The bottom of the lower platform (2) is provided with a second electric telescopic rod (5) and a fixed length rod (6) at both ends, and there are two of each of the second electric telescopic rod (5) and the fixed length rod (6), and the two second electric telescopic rods (5) and the two fixed length rods (6) are located on both sides of the first electric telescopic rod (4); The first electric telescopic rod (4) and the second electric telescopic rod (5) are both hinged to the top of the fixed platform (3). The bottom of the fixed length rod (6) is linearly and movably connected to the top of the fixed platform (3), so that the telescopic combination of the first electric telescopic rod (4) and the second electric telescopic rod (5) cooperates with the moving combination of the bottom of the two fixed length rods (6) to drive the upper moving platform (1) to achieve control of five degrees of freedom, namely three movements and two rotations.

2. The five-degree-of-freedom parallel mechanism of a double-moving platform with a large tilt angle according to claim 1, characterized in that: The bottom of the fixed-length rod (6) is fixedly connected to a Hooke hinge (7), and the bottom of the Hooke hinge (7) is hinged to a Hooke hinge support (8). The bottom of the Hooke hinge support (8) is fixedly connected to a slider (9), and the slider (9) moves linearly on the top of the fixed platform (3). The linear movement trajectories of the two sliders (9) are set in parallel.

3. The five-degree-of-freedom parallel mechanism of a double-moving platform with a large tilt angle according to claim 2, characterized in that: The fixed platform (3) is fixedly connected to the top of the slider (9) with a fixed seat (11). The top of the fixed seat (11) is fixedly connected to a drive frame (10). The slider (9) is movably connected to the inner wall of the drive frame (10) and moves linearly along the direction of the drive frame (10).

4. The five-degree-of-freedom parallel mechanism of a double-moving platform with a large tilt angle according to claim 3, characterized in that: The middle part of the slider (9) is threaded with a lead screw (12), which is rotatably connected to the middle part of the drive frame (10) through a bearing. One end of the lead screw (12) is fixedly connected to a drive motor (13), and the drive motor (13) is fixedly connected to one end of the drive frame (10).

5. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 4, characterized in that: The inner wall of the drive frame (10) is fixedly connected to a slide rail (14), and the slide rail (14) is movably connected to the bottom of the slider (9) so as to guide the movement of the slider (9) through the slide rail (14).

6. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 5, characterized in that: The upper moving platform (1) is fixedly connected to the bottom of the first electric telescopic rod (4) with a first ball joint support (15). The bottom of the first ball joint support (15) is hinged with a first ball joint (16), and the first ball joint (16) is fixedly connected to the top of the first electric telescopic rod (4).

7. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 6, characterized in that: The upper moving platform (1) is fixedly connected to a second hinge seat (21) at one end corresponding to the lower moving platform (2). The bottom of the second hinge seat (21) is hinged to a second hinge frame (22), and the second hinge frame (22) is fixedly connected to the top of the lower moving platform (2).

8. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 7, characterized in that: The lower moving platform (2) is fixedly connected to the bottom of the second electric telescopic rod (5) with a second ball joint support (17). The bottom of the second ball joint support (17) is hinged with a second ball joint (18), and the second ball joint (18) is fixedly connected to the top of the second electric telescopic rod (5).

9. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 8, characterized in that: The lower moving platform (2) is fixedly connected to the bottom of the fixed length rod (6) with a first hinge seat (19), and the bottom of the first hinge seat (19) is hinged with a first hinge frame (20), which is fixedly connected to the top of the fixed length rod (6).

10. A five-degree-of-freedom parallel mechanism for a double-moving platform with a large tilt angle according to claim 9, characterized in that: The two second ball joint supports (17) and the two first joint supports (19) are symmetrically arranged about the vertical axis of the midpoint of the lower moving platform (2).

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