Three-degree-of-freedom centrosymmetric distributed driving variant nose cone

Abstract

The three-degree-of-freedom centrosymmetric distributed driving variant nose cone comprises a plurality of sections of circular-truncated-cone-shaped shells which are coaxially connected in a sleeving mode, the diameters of the circular-truncated-cone-shaped shells are decreased step by step, and a centrosymmetric bearing transverse plate is fixedly arranged in each section of circular-truncated-cone-shaped shell and used for providing a branched chain installation reference; the adjacent circular-truncated-cone-shaped outer shells can move relatively so as to achieve stretching or bending deformation. Three sets of driving branch chains and three sets of driven branch chains are arranged between the bearing transverse plates of every two adjacent sections of the circular-truncated-cone-shaped shell, the three sets of driving branch chains and the three sets of driven branch chains are distributed in a central symmetry mode in the circumferential direction of the bearing transverse plates, and the circumferential included angle between every two adjacent branch chains is 120 degrees. The top pneumatic effect can be optimized by increasing the curvature of the conical head part of the fifth section of head conical shell; through the combined arrangement of the SPS branch chains and the RSR branch chains, more flexible deformation is achieved, and sufficient center space is achieved; by arranging the transverse plate, the position of the base is flexible, and the pressure of the shell can be reduced. The device can be used for design or reference in the field of aerospace aircrafts or high-performance vehicles.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the field of aviation and aerospace vehicle technology, and particularly relates to a three-degree-of-freedom central symmetrical distributed driving variable nose cone. BACKGROUND

[0002] The driving variable nose cone realizes an axial telescoping of more than 1400mm, changes the aerodynamic cross-sectional area by adjusting the length of the nose cone, thereby optimizing the air resistance or aerodynamic heating load in the ascent or reentry stage of the vehicle, the driving variable nose cone tail motor driving shaft drives the overall movement of the three-stage linkage mechanism, realizes a maximum bending deformation ratio of 3.5 times, and this deformation can adjust the radius of the nose cone section, which can increase the radius to reduce the aerodynamic impact at high speed, and can reduce the radius to reduce the air resistance at low speed, the driving variable nose cone is independently driven by each stage of the linkage mechanism, supports uniform, non-uniform deformation and single-stage deformation, provides multiple aerodynamic shape options, and is suitable for complex aerospace environments.

[0003] However, the traditional driving variable nose cone usually adopts four-chain (usually refers to a 4-UPS or 4-UPS / SPS parallel mechanism), which has the following problems: Firstly, the workspace is small and the dexterity is limited; secondly, if there is a singular configuration, it may cause control instability; thirdly, the stiffness is anisotropic and the ability to resist lateral aerodynamic load is weak; fourthly, the forward kinematics is difficult to solve and the control algorithm is complex; fifthly, the calibration is extremely difficult and the machining and assembly errors will be amplified; and sixthly, if a single chain fails, the whole system will fail. Therefore, this scheme is more suitable for occasions with high precision requirements but small movement range, such as ground simulators, experimental platforms, etc.

[0004] As for the existing three-chain platform scheme, it has the following problems: firstly, the stiffness and load capacity are low; secondly, the singularity, constraint and rigidity are poor; and thirdly, it has zero fault tolerance. Therefore, the three-chain scheme is not decided.

[0005] Therefore, for the leading variable nose cone application, the six-chain platform is a more potential and applicable technical direction, and the six-chain platform needs to consider the following problems: firstly, the structure is relatively complex; secondly, the control is relatively complex; and thirdly, the volume ratio is small.

[0006] Considering the existing technical development, although the hybrid mechanism has comprehensive performance, it is difficult to realize. SUMMARY

[0007] The present application aims to provide a three-degree-of-freedom central symmetrical distributed driving variable nose cone to replace the traditional four-bar linkage mechanism of the driving variable nose cone proposed in the background art, which can realize multi Although the three degrees of freedom motion can be realized, in practical engineering applications, especially in the field of high-precision and high-reliability such as aerospace, there are a series of significant disadvantages.

[0008] To achieve the above object, the present application provides the following technical scheme: a three degrees of freedom center-symmetrical distributed drive variable nose cone, comprising a plurality of circular truncated cone housings with diameters gradually decreasing and coaxially sleeved, each of the circular truncated cone housings is internally fixedly provided with a center-symmetrical load bearing plate for providing a branch mounting reference; adjacent circular truncated cone housings can move relative to each other to realize telescopic or bending deformation; Between the load bearing plates of two adjacent circular truncated cone housings, three groups of active branches and three groups of driven branches are arranged, the three groups of active branches and the three groups of driven branches are distributed in a center-symmetrical manner along the circumference of the load bearing plate, and the circumferential included angle of adjacent branches is 120°. The active branch is a telescopic and rotatable power output member for providing power to drive the variable nose cone to realize three degrees of freedom motion; the driven branch is a self-adaptive rotating constraint member for providing redundant constraint and enhancing structural stability; by cooperatively controlling the telescopic amount of the three groups of active branches, the plurality of circular truncated cone housings can be driven to realize three degrees of freedom deformation of axial telescoping, bending and deflection, and the driven branch adaptively adjusts the posture to adapt to the deformation demand with the movement of the active branch.

[0009] Further, the front end of the plate of the first circular truncated cone nose housing is contact-connected with the rear end of the plate of the second circular truncated cone nose housing, the front end of the plate of the second circular truncated cone nose housing is contact-connected with the rear end of the plate of the third circular truncated cone nose housing, the front end of the plate of the third circular truncated cone nose housing is contact-connected with the rear end of the plate of the fourth circular truncated cone nose housing, the front end of the plate of the fourth circular truncated cone nose housing is contact-connected with the rear end of the plate of the fifth circular truncated cone nose housing, the inside of the first circular truncated cone nose housing, the inside of the second circular truncated cone nose housing, the inside of the third circular truncated cone nose housing, the inside of the fourth circular truncated cone nose housing and the inside of the fifth circular truncated cone nose housing are all fixedly provided with a triangular plate, three SPS branches arranged in a center-symmetrical manner are fixedly arranged between every two adjacent plates, and three RSR branches arranged in a center-symmetrical manner are fixedly arranged between every two adjacent plates.

[0010] As a preferred technical scheme of the present application, the twelve SPS branches all comprise a positioning seat and a combined connecting rod, the front and rear ends of the positioning seat and the combined connecting rod are rotationally connected, the inside of the combined connecting rod can be telescopically extended and retracted, the SPS branch as an active chain mainly provides power to realize longitudinal displacement, a motor controls the internal driving and the front and rear end rotation driving of the SPS branch, and the driving mode is motor driving.

[0011] As a preferred technical scheme of the present application, twelve first positioning seats are fixedly connected to the side opposite to the rear transverse plate, and twelve second positioning seats are fixedly connected to the side opposite to the front transverse plate.

[0012] As a preferred technical scheme of the present application, twelve RSR branches each include a mounting seat and a combined connecting rod, the mounting seat is rotatably connected to the front and rear ends of the combined connecting rod, the inside of the combined connecting rod can rotate, the connection of the two rotating parts is a universal joint mechanism, the RSR branch is a driven chain and mainly provides redundant constraints and safety functions, and a motor can be additionally used to control the locking and rotation of the two rotating parts.

[0013] As a preferred technical scheme of the present application, twelve first mounting seats are fixedly connected to the side opposite to the rear transverse plate, and twelve second mounting seats are fixedly connected to the side opposite to the front transverse plate.

[0014] As a preferred technical scheme of the present application, the outer diameter of the first circular-tapered head shell is greater than that of the second circular-tapered head shell, the outer diameter of the second circular-tapered head shell is greater than that of the third circular-tapered head shell, the outer diameter of the third circular-tapered head shell is greater than that of the fourth circular-tapered head shell, the outer diameter of the fourth circular-tapered head shell is greater than that of the fifth circular-tapered head shell, and the curvature of the conical head part of the fifth circular-tapered head shell is additionally increased.

[0015] As a preferred technical scheme of the present application, the front end of each of the five transverse plates and the rear end of each of the five transverse plates are fixedly installed with a plurality of bases.

[0016] As a preferred technical scheme of the present application, the five transverse plates are designed as triangular shapes.

[0017] Compared with the prior art, the present application has the following beneficial effects: The present application can realize continuous stretching and bending deformation by setting five circular-tapered head shells with decreasing diameters, can optimize the sharp end aerodynamic effect by increasing the curvature of the conical head part of the fifth circular-tapered head shell, and can provide three degrees of freedom of two rotations and one translation by the combination of three SPS branches and three RSR branches. The triangular-shaped transverse plates can more evenly transmit loads and avoid local stress concentration. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1Fig. 1 is a schematic diagram of an external structure of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone according to an embodiment of the present application; Figure 2 Fig. 2 is a schematic diagram of an internal structure of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone (SPS branch and RSR branch base distribution) according to an embodiment of the present application; Figure 3 Fig. 3 is a schematic diagram of an SPS branch link structure inside a shell of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone according to an embodiment of the present application; Figure 4 Fig. 4 is a schematic diagram of an RSR branch link structure inside a shell of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone according to an embodiment of the present application; Figure 5 Fig. 5 is a schematic diagram of a contracted state of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone according to an embodiment of the present application; Figure 6 Fig. 6 is a schematic diagram of a curved state of a three-degree-of-freedom center-symmetrical distributed drive variant nose cone according to an embodiment of the present application.

[0019] In the figure: 1, first section circular truncated cone-shaped nose cone shell; 2, second section circular truncated cone-shaped nose cone shell; 3, third section circular truncated cone-shaped nose cone shell; 4, fourth section circular truncated cone-shaped nose cone shell; 5, fifth section circular truncated cone-shaped nose cone shell; 6, cross plate; 7, SPS branch; 8, RSR branch; 71, first positioning seat; 72, first universal joint; 73, boss link; 74, telescopic link; 75, second universal joint; 76, second positioning seat; 81, first mounting seat; 82, first link; 83, first rotating part; 84, second rotating part; 85, second link; 86, second mounting seat. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings of the embodiments of the present application. It should be noted that the described embodiments are only typical embodiments of the present application, not all possible embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0021] Please refer to Figures 1 to 6 The present application comprises multiple sections of circular truncated cone-shaped shells with diameters gradually decreasing and coaxially sleeving, each of the circular truncated cone-shaped shells is fixedly provided with a center-symmetrical load-bearing cross plate inside for providing a branch mounting reference; adjacent circular truncated cone-shaped shells can move relative to each other to realize telescopic or curved deformation. Between the load bearing transverse plates of two adjacent segments of the conical shell, three groups of active branch chains and three groups of driven branch chains are arranged, the three groups of active branch chains and the three groups of driven branch chains are distributed in a central symmetry along the circumference of the load bearing transverse plate, and the circumferential included angle of adjacent branch chains is 120°; The active branch chain is a telescopic power output member for providing power to drive the variable head cone to realize three-degree-of-freedom movement; the driven branch chain is an adaptive rotating constraint member for providing redundant constraints and enhancing structural stability; by cooperatively controlling the telescopic amount of the three groups of active branch chains, the multi-segment conical shell can be driven to realize three-degree-of-freedom deformation of axial telescoping, bending and deflection synchronously, and the driven branch chain adaptively adjusts the posture to adapt to the deformation demand with the movement of the active branch chain, having the characteristics of high movement precision, good reliability and strong adaptability.

[0022] The variable head cone comprises a first segment conical head cone shell (1), a second segment conical head cone shell (2), a third segment conical head cone shell (3), a fourth segment conical head cone shell (4) and a fifth segment conical head cone shell (5). Each shell is made of high-strength lightweight material and is connected through end contact in sequence to form a sleeving relationship that can slide relative to each other. Specifically, the first shell (1) is only in contact with the front end of the second shell (2) at its rear end; the fifth shell (5) is only in contact with the rear end of the fourth shell (4) at its front end; and the second, third and fourth shells are in contact with the adjacent shells at both the front and rear ends, respectively. This design not only ensures the relative movement freedom between the shells, but also ensures the continuity of the overall structure, providing a basic guarantee for the stable movement of the variable head cone.

[0023] A triangular plate (6) is fixedly installed inside each shell. The triangular plate serves as an internal load bearing framework, with the outer edge fixedly connected to the inner wall of the shell and the central region used for arranging driving and control elements. The triangular plate can be integrally machined from high-strength aluminum alloy or composite material. The triangular configuration can effectively disperse and transmit external loads through the mutual restraint between the three edges, reducing local stress concentration and significantly enhancing the rigidity and stability of the overall structure. The three vertices of the triangular plate are provided with branch chain connecting seats to ensure effective force transmission.

[0024] Six branch chains are arranged between each two adjacent horizontal plates (6), forming a complete kinematic chain system. Among them, three are SPS branch chains (7) as the driving chain; three are RSR branch chains (8) as the driven support chain. The bases of the SPS branch chains are arranged in central symmetry, fixedly installed between the front and rear horizontal plates, and the included angle between the bases of each branch chain is 120 degrees, which ensures the uniform distribution of driving force. Similarly, the bases of the three RSR branch chains are also arranged in central symmetry and located on one side of the SPS branch chains, and the two are arranged staggered in space, which not only avoids motion interference, but also optimizes the force transmission path.

[0025] The specific structure of the SPS branch chain (7) includes: a first positioning seat (71), a first universal joint (72), a boss connecting rod (73), an extension connecting rod (74), a second universal joint (75), and a second positioning seat (76). The first positioning seat (71) is fixed on a specific mounting position of the lower horizontal plate (6) by high-strength bolts, and the mounting position needs to be precisely machined to ensure positioning accuracy. The first universal joint (72) is rotationally connected with the first positioning seat (71) to provide two rotational degrees of freedom. One end of the boss connecting rod (73) is connected with the first universal joint (72), and the inside thereof is a precision guide structure, which is lined with a wear-resistant material to ensure smooth movement. The extension connecting rod (74) can move axially in the inner cavity of the boss connecting rod (73), and the surface thereof is hardened to improve wear resistance. The front end of the extension connecting rod (74) is rotationally connected with the second positioning seat (76) through the second universal joint (75), and the second positioning seat (76) is fixed on the corresponding position of the upper horizontal plate (6). This SPS branch chain constitutes an active kinematic chain, which is preferably controlled by a servo motor to accurately control the relative distance and attitude angle between the two horizontal plates.

[0026] The specific structure of the RSR branch chain (8) includes: a first mounting seat (81), a first connecting rod (82), a first rotating part (83), a second rotating part (84), a second connecting rod (85), and a second mounting seat (86). The first mounting seat (81) is fixed on the lower horizontal plate (6), and the front end of the first connecting rod (82) is rotationally connected with the first mounting seat (81). The front end of the first connecting rod (82) is connected with the second rotating part (84) through the first rotating part (83), the second rotating part (84) is rotationally connected with the rear end of the second connecting rod (85), the front end of the second connecting rod (85) is rotationally connected with the second mounting seat (86), and the second mounting seat (86) is fixed on the lower horizontal plate (6). This RSR branch chain constitutes a passive kinematic chain, which can adapt to the relative displacement and rotation between the multiple layers driven by the SPS branch chain, while providing additional constraints to enhance the overall motion stability. It itself does not have driving capability, and if system reliability needs to be improved, it can be used as an important redundant backup.

[0027] Regarding the size design of the shell, the outer diameter of the first section of the circular conical nose cone shell (1) is the largest, and the outer diameter of each subsequent section of the shell decreases in turn, forming a tapered structure. This design not only helps to optimize the aerodynamic performance, but also ensures the compactness of each section of the shell in the retracted state. In particular, the curvature of the conical head portion of the fifth section of the circular conical nose cone shell (5) is increased, so that the nose cone can form a more smooth and continuous aerodynamic shape when fully extended, effectively improving the aerodynamic performance and thermal protection performance under high speed conditions.

[0028] At the front and rear ends of the five cross plates (6), a number of standardized bases are pre-processed or installed, which are used to accurately fix the end connectors (i.e. positioning seats and mounting seats) of the SPS branch chain and the RSR branch chain. The fixing parts should have positioning pins and threaded holes to ensure the repeatability and connection strength of the branch chain installation position.

[0029] The variant nose cone realizes axial extension, bending and deflection deformation by cooperative control of the three SPS active branch chains. When extending axially, the three branch chains move synchronously; when bending or deflecting, differential control is implemented. The RSR branch chain passively adapts to the movement, providing constraint and stability. All movements are uniformly coordinated by the central controller, receiving instructions and sensor feedback, and achieving high-precision trajectory tracking and pose control through motion control algorithms.

[0030] When the nose cone needs to extend or retract axially, the control system sends synchronous motion instructions to the servo drives of the three SPS branch chains (7). The three telescopic links (74) synchronously extend or retract at the same speed and displacement, pushing or pulling the adjacent cross plates (6) and driving the entire shell to smoothly extend or retract along the axial direction. In this process, the RSR branch chain (8) passively follows the movement, and its joints rotate accordingly to adapt to the change of the interlayer distance. At the same time, the structure of the RSR branch chain itself provides lateral support to prevent the shell from losing stability or yawing, ensuring the stability of the movement.

[0031] When the nose cone needs to be bent or deflected, the control system installed controls the three SPS branches (7) in differential mode. By accurately calculating the displacement required for each branch, precise attitude control is achieved. For example, to bend the nose cone in a certain direction, the SPS branch in that direction needs to be elongated more than the other two branches, or the branch on the other side needs to be retracted. The different displacement outputs of the three branches result in a relative inclination angle between the adjacent cross plates, which is then transmitted through the shell to produce a smooth bending deformation of the entire nose cone. As long as the displacement limit of the moving pair P in the SPS branch is met, the singularity problem commonly encountered in parallel mechanisms will not occur. The RSR branches also adapt passively during this process, but their constraint characteristics ensure that the bending deformation occurs in the expected direction and range, avoiding uncontrollable twisting or jamming. By precisely controlling the displacement combination of the three SPS branches, bending movements from fine-tuning to large-scale, different curvatures, or even complex S-shaped deformations can be achieved.

[0032] The redundancy of this design mainly manifests in two aspects: first, the three SPS branches themselves constitute a certain degree of force redundancy design, and when a single branch fails, the other two can still maintain basic functions or safely retract the nose cone in degraded mode; second, the three RSR branches provide additional structural backup and constraints, which can prevent structural collapse in extreme cases. The universal joints or hinges in the RSR branches usually do not need active control, but in some high-end application scenarios, electromagnetic locking mechanisms can be configured for the first rotating part (83) and its second rotating part (84) to lock them when the attitude needs to be fixed, further enhancing rigidity. The control system should have fault detection and diagnosis (FDD) functions to monitor parameters such as current, temperature, and encoder feedback of each branch motor in real time, and use neural network-based methods for fault prediction and health management. Once an anomaly is detected, a safety plan (such as stopping movement, slowly retracting, or locking the current position) can be triggered immediately, and an alarm is prompted to ensure system safety.

[0033] This invention builds a high-performance, high-reliability, and multi-functional driven morphing nose cone platform through the innovative central symmetric layout of three active and three passive branches, combined with a five-section variable diameter shell and internal triangular bearing cross plates. This design has the following significant advantages: first, the central symmetric layout has a reasonable force transmission path and high structural stiffness; second, the combination of active and passive branches provides sufficient driving capacity while ensuring stability; third, modular design makes manufacturing, assembly, and maintenance more convenient; fourth, multi-degree-of-freedom deformation capability allows it to adapt to complex working environments; and finally, redundancy design improves system reliability and safety.

[0034] The variant nose cone can be applied to aerospace fields such as high-speed aircrafts, reusable launch vehicles, spaceplanes, etc., and through real-time adjustment of the aerodynamic shape, the aerodynamic performance is optimized, the resistance is reduced, and the heat load is managed. In addition, the technology can also be applied to fields such as advanced automotive active aerodynamics systems, deformable robots, etc., and has broad application prospects.

[0035] The present application provides an innovative variant nose cone solution through the above specific embodiments, and the design concept and specific implementation scheme provide complete technical references for related technical personnel. In actual application, various parameters can be optimized and adjusted according to specific requirements to obtain the best performance.

[0036] Although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art can modify, supplement or replace part of the technical features described above without departing from the principles and purposes of the present application, and these shall be included in the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone, characterized in that: It includes multiple frustum-shaped shells with progressively decreasing diameters and coaxially connected. Each frustum-shaped shell has a centrally symmetrical load-bearing cross plate fixed inside to provide a reference for the support installation. Adjacent frustum-shaped shells can move relative to each other to achieve expansion, contraction, or bending deformation. Between the supporting transverse plates of the frustum-shaped shells of two adjacent sections, there are three sets of active branches and three sets of driven branches. The three sets of active branches and the three sets of driven branches are all centrally symmetrically distributed along the circumference of the supporting transverse plate, and the circumferential angle between adjacent branches is 120°. The active branch is a retractable and rotatable power output component used to provide power to drive the variant head cone to achieve three degrees of freedom motion; the driven branch is an adaptively rotatable constraint component used to provide redundant constraints and enhance structural stability. By coordinating and controlling the extension and retraction of the three sets of active branches, the multi-section frustum-shaped shell can be driven to simultaneously achieve three-degree-of-freedom deformation of axial extension, bending and deflection. The driven branches adaptively adjust their posture according to the movement of the active branches to adapt to the deformation requirements.

2. The three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: The first frustum-shaped conical shell (1) is only connected to the horizontal plate of the second frustum-shaped conical shell (2) at the front end of the horizontal plate (6), and the fifth frustum-shaped conical shell (5) is only connected to the horizontal plate of the fourth frustum-shaped conical shell (4) at the rear end of the horizontal plate (6). The second frustum-shaped conical shell (2), the third frustum-shaped conical shell (3), and the fourth frustum-shaped conical shell (4) are all connected to the horizontal plates (6) of other frustum-shaped conical shells at the front and rear ends of their respective horizontal plates (6). A horizontal plate (6) is fixedly installed inside the first frustum-shaped head cone shell (1), the second frustum-shaped head cone shell (2), the third frustum-shaped head cone shell (3), the fourth frustum-shaped head cone shell (4), and the fifth frustum-shaped head cone shell (5). Three SPS branches (7) arranged in a central symmetric manner are fixedly installed between every two adjacent horizontal plates (6), and three RSR branches (8) arranged in a central symmetric manner are fixedly installed between every two adjacent horizontal plates (6).

3. The three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: Each of the twelve SPS branches (7) includes a first positioning seat (71), a first universal joint (72), a boss connecting rod (73), a telescopic connecting rod (74), a second universal joint (75), and a second positioning seat (76). The first universal joint (72) is rotatably connected to the positioning seat (71), the boss connecting rod (73) is rotatably connected to the first universal joint (72), the telescopic connecting rod (74) is internally movably connected to the boss connecting rod (73), the telescopic connecting rod (74) is rotatably connected to the second universal joint (75), and the second universal joint (75) is rotatably connected to the positioning seat (76).

4. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 3, characterized in that: The bottom ends of the twelve first positioning seats (71) are fixedly connected to the horizontal plate (6) behind them, and the top ends of the twelve second positioning seats (76) are fixedly connected to the horizontal plate (6) in front of them.

5. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: Each of the twelve RSR branches (8) includes a first mounting base (81), a first connecting rod (82), a first rotating component (83), a second rotating component (84), a second connecting rod (85), and a second mounting base (86). The first connecting rod (82) is rotatably connected to the bottom end of the first mounting base (81), the top end of the first connecting rod (82) is rotatably connected to the first rotating component (83), the first rotating component (83) is rotatably connected to the second rotating component (84), the second rotating component (84) is rotatably connected to the second connecting rod (85), and the second connecting rod (85) is rotatably connected to the second mounting base (86).

6. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 4, characterized in that: The bottom ends of the twelve first mounting bases (81) are fixedly connected to the horizontal plate (6) behind them, and the top ends of the twelve second mounting bases (86) are fixedly connected to the horizontal plate (6) in front of them.

7. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: The outer diameter of the first frustum-shaped head cone shell (1) is greater than the outer diameter of the second frustum-shaped head cone shell (2), the outer diameter of the second frustum-shaped head cone shell (2) is greater than the outer diameter of the third frustum-shaped head cone shell (3), the outer diameter of the third frustum-shaped head cone shell (3) is greater than the outer diameter of the fourth frustum-shaped head cone shell (4), and the outer diameter of the fourth frustum-shaped head cone shell (4) is greater than the outer diameter of the fifth frustum-shaped head cone shell (5).

8. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: Several bases are fixedly installed at the top and bottom of the five horizontal plates (6).

9. A three-degree-of-freedom, centrosymmetric, distributed-drive variant head cone according to claim 1, characterized in that: All five of the horizontal plates (6) are designed as triangular plates.

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