Three-degree-of-freedom adjustable cabin closing device

Abstract

A three-degree-of-freedom adjustable cabin closing device comprises a bottom arm device, a front arm device, a left arm device, a right arm device and a rear arm device. The bottom arm equipment comprises two transfer trolleys, a connecting frame arranged between the two transfer trolleys and a transfer track, the two transfer trolleys are installed on the transfer track, and the connecting frame is connected with the two transfer trolleys through quick connectors; the front arm device comprises a bottom frame, a sliding frame, a vertical frame and a workbench. The bottom frame is fixedly arranged at the end, without the transfer track, of the bottom arm device. The left arm device comprises a side wall bottom frame, a side wall inner support and a side wall workbench. The right arm equipment and the left arm equipment are consistent in structure; the rear arm device comprises a rear wall bottom frame, a rear wall middle frame, a left workbench, a right workbench, a linear bearing assembly A and a linear bearing assembly B. According to the utility model, the positioning mode of the cabin prefabricated slab is changed into an operation mode of a mechanical arm form from manual hoisting, and the hoisting tool does not need to be loaded and unloaded repeatedly, so that the safety of operators can be effectively protected, and the cabin wall is prevented from being damaged.

Description

Technical Field

[0001] The utility model belongs to the field of production and processing of wall panels of large plate-type structural cabins, and specifically relates to a three-degree-of-freedom adjustable cabin closing device. Background Art

[0002] At present, in the processing of large-plate structure cabins, the cabin assembly process is usually carried out by hoisting or with the assistance of frame support structure. This process requires the use of a hoisting rope or other hoisting tools to pass through the holes of the prefabricated plate, or directly cover the bottom surface of the cabin plate. The hoisting tool fixes the bulkhead and then connects to the crane. The bulkhead is positioned by moving the crane position and cooperating with the ground personnel. After positioning, the bulkhead needs to be clamped and fixed manually. The hoisting process has high requirements for the mutual cooperation between operators. At least three operators and one on-site dispatcher are required to complete the placement of a bulkhead. The hoist is put on the bottom of the large plate. When it contacts the bottom plate, auxiliary tools are required to lift the gap and then withdraw the hoist. During this process, the hoist is easy to cause deformation and damage to the edge of the component. Before the hoist is withdrawn, the bulkhead needs to be fixed with a strut or other auxiliary fixing device. After the bulkhead is positioned, the cabin connection process requires repeated movement of the workbench to ensure that the construction personnel reach the appropriate workstation. The positioning time of the entire process is long, the production efficiency is low, the operation is cumbersome and difficult, and the product quality is unstable.

[0003] Although the method of using a frame-type support structure can ensure accuracy, it can only be used for the production of products of one size type, with a small scope of application and low utilization rate. When this type of structure is in the process of cabin assembly, since there is no adjustment function, each wall panel still needs to be manually docked, and the riveting and gluing of the cabin top position during the construction process still need to be carried out with the help of other tools, which has low production efficiency. Summary of the invention

[0004] The utility model aims to provide a cabin closing positioning device which is easy to operate, has high production efficiency and safety, and can accurately position, so as to solve the problems of low production efficiency and great operating difficulty caused by cabin closing by hoisting or frame support in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a three-degree-of-freedom adjustable cabin closing device, comprising: a bottom arm device, a front arm device, a left arm device, a right arm device and a rear arm device;

[0006] The bottom arm equipment includes two transfer vehicles, a connecting frame arranged between the two transfer vehicles, and a transfer track. The two transfer vehicles are installed on the transfer track, and the connecting frame is connected to the two transfer vehicles through a quick connector.

[0007] The forearm device includes a base frame, a sliding frame, a vertical frame and a workbench. The base frame is fixedly arranged at one end of the bottom arm device where the transfer track is not arranged. Slide grooves are arranged on both sides of the bottom of the sliding frame, and slide rails matching the slide grooves are arranged on both sides of the base frame. An oil cylinder is arranged between the base frame and the sliding frame, and the sliding frame and the base frame are slidably connected. The vertical frame is a door-type structure, and the vertical frame is connected to the sliding frame through a rotating bearing arranged at the bottom and an oil cylinder arranged obliquely on one side. A workbench is slidably installed on the other side of the vertical frame, and an oil cylinder is arranged between the vertical frame and the workbench. A plurality of suction cups are arranged on the side of the workbench away from the vertical frame, and a plurality of cylinders are installed under the workbench on the side close to the suction cup. The workbench is composed of a rectangular frame at the bottom, a plurality of vertical poles vertically installed on the rectangular frame, and a horizontal plane fixed on the vertical poles.

[0008] The left arm equipment includes a side wall base frame, a side wall inner bracket and a side wall workbench; the side wall base frame is fixedly set on the left side ground of the transfer track; a roller is provided at the bottom of the side wall inner bracket, and a slide rail cooperating with the roller is correspondingly provided on the upper part of the side wall base frame, and a cylinder is provided between the side wall base frame and the side wall inner bracket; the side wall inner bracket and the side wall workbench are slidably connected through a tensioning frame; a track, a roller and a cylinder are provided between the side wall workbench and the side wall inner bracket, but the direction of the track, the roller and the cylinder is perpendicular to the direction of the slide rail on the side wall base frame; the side wall workbench is composed of a bulkhead fixing frame and a middle bracket assembly; the bulkhead fixing frame is connected to the middle bracket assembly through a rotating bearing arranged at the bottom and a cylinder inclined at one side; a plurality of suction cups are provided on the side of the bulkhead fixing frame away from the tensioning frame, and a plurality of cylinders are installed under the bulkhead fixing frame on the side of the suction cup; the right arm equipment has the same structure as the left arm equipment and is fixedly set on the right side ground of the transfer track;

[0009] The rear arm device includes a rear wall base frame, a rear wall middle frame, a left workbench, a right workbench, a linear bearing assembly A and a linear bearing assembly B; there are two rear arm base frames, which are respectively arranged on both sides of the transfer track away from one end of the front arm device; each rear wall base frame is provided with a rear wall middle frame, and the rear wall middle frame is arranged on the rear wall base frame through the linear bearing assembly A; the left workbench and the right workbench are respectively arranged on two rear wall middle frames through a linear bearing assembly B, and the direction of the linear bearing assembly A is perpendicular to that of the linear bearing assembly B; the linear bearing assembly A and the linear bearing assembly B are both provided with limit assemblies; the linear bearing assembly B is provided with a clamp, which is connected to the slider of the linear bearing assembly B on one side by bolts, and locks the middle track of the limit assembly on the other side; the left workbench and the right workbench are closed and fixed by quick clamps; the left workbench and the right workbench are provided with suction cups at one end close to the forearm device, and cylinders are provided on the left workbench and the right workbench under the suction cups.

[0010] Preferably, the transfer vehicle includes a rectangular support frame, four support seats fixed to the lower part of the rectangular support frame, and pulleys installed below the support seats.

[0011] Preferably, a base plate limit device is installed on each side of the transfer vehicle away from the connecting frame; the base plate limit device is composed of a handle, a limit rod, a sliding tube, a fixed tube, an adjusting nut, an adjusting screw and a handle slide seat; the fixed tube is arranged on the transfer vehicle, one end of the sliding tube is inserted into the fixed tube, and the other end is provided with a handle slide seat, and the handle and the limit rod connected to the handle are installed on the handle slide seat; the adjusting nut is fixed on the adjusting screw, the adjusting screw is threadedly connected to the fixed tube, and the adjusting screw located in the fixed tube is connected to the sliding tube through a bearing.

[0012] Preferably, both the left arm device and the right arm device are provided with a tensioning mechanism, one end of the tensioning mechanism is connected to the inner bracket of the side wall, and the other end is connected to the bottom frame of the side wall.

[0013] Preferably, each cylinder on the forearm device, the left arm device, the right arm device and the rear arm device is arranged under the suction cup through a connecting bracket; the connecting bracket consists of a fixing ring with a handle, a side mounting fixing seat, a guide shaft and a cylinder fixing frame; the cylinder is installed in the cylinder fixing frame by screws, and two guide shafts are connected to the cylinder fixing frame, and each guide shaft is provided with a fixing ring and a side mounting fixing seat.

[0014] Preferably, the utility model further comprises a control console and a hydraulic station, and the control console and the hydraulic station are arranged close to the left arm device or the right arm device.

[0015] Beneficial effects: The utility model changes the positioning method of the cabin prefabricated panels from manual lifting to an operation method in the form of a mechanical arm, which does not require repeated loading and unloading of lifting equipment, can effectively protect the safety of operators and avoid damage to the cabin wall; after the cabin is closed, it can directly proceed to the next process, which can effectively improve production efficiency and product quality; after the cabin is closed, the workbench can be used for construction at the cabin roof, and is equipped with an integrated climbing work staircase, which can conveniently and effectively protect the safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is the structural diagram of the bottom arm equipment;

[0018] Figure 3 It is a structural diagram of the forearm device;

[0019] Figure 4 This is the structural diagram of the left arm equipment;

[0020] Figure 5 is a side view of the left arm device;

[0021] Figure 6 This is the structural diagram of the rear arm equipment;

[0022] Figure 7It is a schematic diagram of the connection between the neutral frame and the sliding frame of the forearm device through a rotating bearing;

[0023] Figure 8 A structural diagram of the connecting bracket;

[0024] Fig. 9 This is a structural diagram of the bottom plate limiting device. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are now described with reference to the accompanying drawings. It will be understood by those skilled in the art that the following embodiments are only used to illustrate the present invention and should not be considered as limiting the scope of the present invention. If no specific technology, connection relationship or condition is indicated in the embodiments, the technology, connection relationship, condition described in the literature in the field or the product specification is used. If the manufacturer of the materials, instruments or equipment used is not indicated, they are all conventional products that can be purchased.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention will be understood according to specific circumstances.

[0027] Combination Figure 1-Figure 9 As shown, the utility model provides a three-degree-of-freedom adjustable cabin closing device, comprising: a bottom arm device 1, a front arm device 2, a left arm device 3, a right arm device 4 and a rear arm device 5;

[0028] The bottom arm device 1 includes two transfer vehicles 11, a connecting frame 12 arranged between the two transfer vehicles 11, and a transfer track 13. The two transfer vehicles 11 are installed on the transfer track 13, and the connecting frame 12 is connected to the two transfer vehicles 11 through a quick connector; the quick connector is an existing structure, mainly composed of a bottom guide pin and an upper plane connecting angle piece, one set at each of the front and rear corners, and when in use, the component is placed from top to bottom by its own gravity and the guide pin to quickly position and combine with the transfer vehicle, and then the angle piece is fixed by bolts;

[0029] The forearm device 2 includes a base frame 21, a sliding frame 22, a vertical frame 23 and a workbench 24. The base frame 21 is fixedly arranged at the end of the bottom arm device 1 where the transfer track 13 is not arranged; slide grooves are arranged on both sides of the bottom of the sliding frame 22, and slide rails matching the slide grooves are arranged on both sides of the base frame 21. An oil cylinder is arranged between the base frame 21 and the sliding frame 22, and the sliding frame 22 and the base frame 21 are slidably connected; the vertical frame 23 is a door-type structure, and the vertical frame 23 is connected to the sliding frame 22 through a rotating bearing arranged at the bottom and an oil cylinder arranged obliquely on one side; a workbench 24 is slidably installed on the other side of the vertical frame 23, and an oil cylinder is arranged between the vertical frame 23 and the workbench 24. The sliding part is connected by two sets of upper and lower linear guides, and the action is left and right movement. Through oil cylinder control, the slider in the linear guide is connected to the workbench, and the track is connected to the stand; a plurality of suction cups 6 are provided on the side of the workbench 24 away from the stand 23, and a plurality of cylinders are installed under the workbench 24 on the side close to the suction cup 6; before the suction cup completely absorbs the workpiece, the cylinder extends to locate the upper and lower positions of the workpiece while supporting the workpiece to prevent it from falling; after the suction cup completely absorbs the workpiece, if the bottom workpiece needs to be seamlessly matched with other workpieces, it can be completely retracted by controlling the switch; in addition, the positioning point can be adjusted by sliding the guide shaft up and down according to the shape of the lower edge of the workpiece; the workbench 24 is composed of a rectangular frame at the bottom, a plurality of vertical poles vertically installed on the rectangular frame, and a horizontal surface fixed on the vertical poles;

[0030] The left arm device 3 includes a side wall base frame 31, a side wall inner bracket 32 ​​and a side wall workbench 33; the side wall base frame 31 is fixedly set on the left side ground of the transfer track 13; a roller is provided at the bottom of the side wall inner bracket 32, and a slide rail matching the roller is correspondingly provided on the upper part of the side wall base frame 31, and a cylinder is provided between the side wall base frame 31 and the side wall inner bracket 32 ​​to realize forward and backward movement; the side wall inner bracket 32 ​​and the side wall workbench 33 are slidably connected by a tensioning frame 35; a track, a roller and a cylinder are provided between the side wall workbench 33 and the side wall inner bracket 32, but the direction of the track, the roller and the cylinder are the same as that of the side wall base frame The slide rail on 31 is vertical to achieve left and right movement; the side wall workbench 33 is composed of a bulkhead fixing frame 36 and a middle bracket assembly 34; the bulkhead fixing frame 36 is connected to the middle bracket assembly 34 through a rotating bearing arranged at the bottom and an oil cylinder arranged obliquely on one side, and the flipping of the bulkhead fixing frame 36 is achieved by the extension and contraction of the oil cylinder; a plurality of suction cups 6 are arranged on the side of the bulkhead fixing frame 36 away from the tensioning frame 35, and a plurality of cylinders are installed under the bulkhead fixing frame 36 on one side of the suction cup 6; the right arm device 4 has the same structure as the left arm device 3 and is fixedly arranged on the right side of the transfer track 13;

[0031] The rear arm device 5 includes a rear wall base frame 51, a rear wall middle frame 52, a left workbench 53, a right workbench 54, a linear bearing assembly A55 and a linear bearing assembly B56; there are two rear arm base frames, which are respectively arranged on both sides of the transfer track 13 away from one end of the front arm device 2; each rear wall base frame is provided with a rear wall middle frame, and the rear wall middle frame is arranged on the rear wall base frame through a linear bearing assembly A; the left workbench and the right workbench are respectively arranged on the two rear wall middle frames through a linear bearing assembly B, and the direction of the linear bearing assembly A is perpendicular to the direction of the linear bearing assembly B; the linear bearing assembly Component A and linear bearing component B are both provided with limit components to prevent the equipment from going off the track; a clamp 57 is provided on the linear bearing component B, and the clamp 57 is connected to the slider of the linear bearing component B on one side by bolts, and the other side locks the track in the limit component, and the front, back, left and right positions of the workbench are fixed by the clamp; the left workbench and the right workbench are closed and fixed by quick clamps 58, and guide pins are also provided at the closing position of the left workbench and the right workbench; the left workbench and the right workbench are both provided with suction cups 6 at one end close to the forearm device 2, and cylinders are provided on the left workbench and the right workbench below the suction cups 6.

[0032] Specifically, the left arm device 3 and the right arm device 4 are both provided with a tensioning mechanism 7, one end of the tensioning mechanism 7 is connected to the side wall inner bracket 32, and the other end is connected to the side wall bottom bracket 31. The tensioning structure is a prior art, and its function is mainly realized by the tensioning frame; the fixed bracket of the tensioning frame is connected to the side wall workbench, and the bottom pulley plate is connected to the side wall inner bracket; bolts and deep groove bearings are installed at both ends of the connecting plate and the connecting rod, respectively, so that the workbench and the inner bracket can be tightened and limited in the vertical direction, and the left and right movement of the workbench is not affected because of the pulley at the bottom.

[0033] A further optimized solution is that the transfer vehicle 11 includes a rectangular support frame 111, four support seats 112 fixed to the lower part of the rectangular support frame 111, and a pulley 113 installed under the support seat 112; a bottom plate limiting device 14 is installed on each side of the transfer vehicle 11 away from the connecting frame 12; the bottom plate limiting device 14 is composed of a handle 141, a limiting rod 142, a sliding tube 143, a fixed tube 144, an adjusting nut 145, an adjusting screw 146 and a handle slide seat 147; the fixed tube 144 is arranged on the transfer vehicle 11, one end of the sliding tube 143 is inserted into the fixed tube 144, and the other end is provided with a handle slide seat 147, and the handle 141 and the limiting rod 142 connected to the handle 141 are installed on the handle slide seat 147; the adjusting nut 145 is fixed on the adjusting screw 146, the adjusting screw 146 is threadedly connected to the fixed tube 144, and the adjusting screw 146 located in the fixed tube 144 is connected to the sliding tube 143 through a bearing.

[0034] According to a further optimized solution, each cylinder on the forearm device 2, the left arm device 3, the right arm device 4 and the rear arm device 5 is arranged under the suction cup 6 through a connecting bracket 10; the connecting bracket 10 is composed of a fixing ring 101 with a handle, a side mounting fixing seat 102, a guide shaft 103 and a cylinder fixing frame 104; the cylinder is installed in the cylinder fixing frame 104 by screws, and two guide shafts 103 are connected to the cylinder fixing frame 104, and each guide shaft 103 is provided with a fixing ring 101 and a side mounting fixing seat 102, and the fixing ring 101 and the side mounting fixing seat 102 are correspondingly connected to the forearm device 2 or the left arm device 3 or the right arm device 4 or the rear arm device 5.

[0035] The utility model also includes a control console 8 and a hydraulic station 9, which are arranged close to the left arm device 3 or the right arm device 4; the control console integrates the operation, adjustment and control of all components on the device, such as cylinder extension, suction cup switch, hydraulic cylinder lifting, hydraulic pump switch, emergency stop, status light and other controls; the oil hydraulic station provides power for the hydraulic cylinder.

[0036] The working principle of the utility model is described in detail below:

[0037] like Figure 1 The diagram shows the cabin closure state. The operator can connect the cabin at any position on the workbench. After completing all the cabin closure work, the control system performs vacuum destruction, the bottom plate equipment carries the entire cabin and remains fixed, and other equipment opens outward; after the rear arm equipment moves to a safe position, open the quick clamp at the connection, and the rear arm equipment opens to the left and right sides respectively until the width reaches the safe width for entering and exiting the cabin; then the operator releases the foot brake of the bottom plate equipment transfer wheel, and moves the cabin along the track to the next workstation. After reaching the predetermined position, step on the foot brake to fix the workpiece.

[0038] The above working method is carried out in reverse order, and the next workpiece can be assembled. This equipment allows the assembly of all sizes of cabin products within the design range. The operator only needs to place the cabin arm on one side of the suction cup of the equipment workbench, and the position of the cabin arm can be adjusted through the control console operation; the equipment uses multiple hydraulic cylinders to perform the above actions, which can effectively ensure the position stability during the bulkhead connection process. Different colors of topcoat can be sprayed on different equipment to facilitate the operator to observe the operating position.

[0039] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A three-degree-of-freedom adjustable cabin closing device, characterized in that: include: A bottom arm device (1), a forearm device (2), a left arm device (3), a right arm device (4) and a rear arm device (5); wherein, The bottom arm device (1) comprises two transfer vehicles (11), a connecting frame (12) arranged between the two transfer vehicles (11), and a transfer track (13); the two transfer vehicles (11) are installed on the transfer track (13); the connecting frame (12) and the two transfer vehicles (11) are connected via a quick connector; The forearm device (2) comprises a base frame (21), a sliding frame (22), a vertical frame (23) and a workbench (24); the base frame (21) is fixedly arranged at one end of the bottom arm device (1) where the transfer track (13) is not arranged; slide grooves are arranged on both sides of the bottom of the sliding frame (22); slide rails matching the slide grooves are arranged on both sides of the base frame (21); an oil cylinder is arranged between the base frame (21) and the sliding frame (22); the sliding frame (22) and the base frame (21) are slidably connected; the vertical frame (23) is a door-shaped structure; the vertical frame (23) is connected to the sliding frame (22) via a rotating bearing arranged at the bottom and an oil cylinder arranged obliquely on one side; a workbench (24) is slidably installed on the other side of the vertical frame (23); an oil cylinder is arranged between the vertical frame (23) and the workbench (24); a plurality of suction cups (6) are arranged on the side of the workbench (24) away from the vertical frame (23); a plurality of cylinders are installed under the workbench (24) on the side close to the suction cup (6); The left arm device (3) comprises a side wall base frame (31), a side wall inner bracket (32) and a side wall workbench (33); the side wall base frame (31) is fixedly arranged on the left side ground of the transfer track (13); a roller is arranged at the bottom of the side wall inner bracket (32); a slide rail cooperating with the roller is arranged at the upper part of the side wall base frame (31); an oil cylinder is arranged between the side wall base frame (31) and the side wall inner bracket (32); the side wall inner bracket (32) and the side wall workbench (33) are slidably connected via a tensioning frame (35); a track, roller and oil cylinder are arranged between the side wall workbench (33) and the side wall inner bracket (32); but the track, roller and oil cylinder are not arranged between the track, roller and oil cylinder. The direction of the wheel and the oil cylinder is perpendicular to the direction of the slide rail on the side wall bottom frame (31); the side wall workbench (33) is composed of a bulkhead fixing frame (36) and a middle bracket assembly (34); the bulkhead fixing frame (36) is connected to the middle bracket assembly (34) through a rotating bearing arranged at the bottom and an oil cylinder arranged obliquely on one side; a plurality of suction cups (6) are arranged on the side of the bulkhead fixing frame (36) away from the tensioning frame (35), and a plurality of cylinders are installed under the bulkhead fixing frame (36) on one side of the suction cups (6); the right arm device (4) has the same structure as the left arm device (3) and is fixedly arranged on the right side ground of the transfer track (13); The rear arm device (5) comprises a rear wall base frame (51), a rear wall middle frame (52), a left workbench (53), a right workbench (54), a linear bearing assembly A (55) and a linear bearing assembly B (56); two rear arm base frames are provided, which are respectively arranged on both sides of the transfer track (13) away from one end of the front arm device (2); each rear wall base frame is provided with a rear wall middle frame, and the rear wall middle frame is arranged on the rear wall base frame through the linear bearing assembly A; the left workbench and the right workbench are respectively arranged on the two rear wall middle frames through a linear bearing assembly B. The linear bearing assembly A is perpendicular to the linear bearing assembly B; both the linear bearing assembly A and the linear bearing assembly B are provided with a limit assembly; the linear bearing assembly B is provided with a clamp (57), the clamp (57) is connected to the slider of the linear bearing assembly B on one side by bolts, and the other side locks the middle track of the limit assembly; the left workbench and the right workbench are closed and fixed by a quick clamp (58); the left workbench and the right workbench are provided with a suction cup (6) at one end close to the forearm device (2), and a cylinder is provided on the left workbench and the right workbench below the suction cup (6).

2. A three-degree-of-freedom adjustable cabin closing device according to claim 1, characterized in that: The transfer vehicle (11) comprises a rectangular support frame (111), four support seats (112) fixed to the lower part of the rectangular support frame (111), and pulleys (113) installed below the support seats (112).

3. A three-degree-of-freedom adjustable cabin closing device according to claim 2, characterized in that: A bottom plate limiting device (14) is installed on each side of the transfer vehicle (11) away from the connecting frame (12); the bottom plate limiting device (14) is composed of a handle (141), a limiting rod (142), a sliding tube (143), a fixed tube (144), an adjusting nut (145), an adjusting screw (146) and a handle slide groove seat (147); the fixed tube (144) is arranged on the transfer vehicle (11); one end of the sliding tube (143) is inserted into the fixed tube (144); the other end is provided with a handle slide groove seat (147); the handle (141) and the limiting rod (142) connected to the handle (141) are installed on the handle slide groove seat (147); the adjusting nut (145) is fixed on the adjusting screw (146); the adjusting screw (146) is threadedly connected to the fixed tube (144); and the adjusting screw (146) located in the fixed tube (144) is connected to the sliding tube (143) through a bearing.

4. A three-degree-of-freedom adjustable cabin closing device according to claim 1 or 3, characterized in that: The left arm device (3) and the right arm device (4) are both provided with a tensioning mechanism (7), one end of the tensioning mechanism (7) is connected to the side wall inner bracket (32), and the other end is connected to the side wall bottom bracket (31).

5. A three-degree-of-freedom adjustable cabin closing device according to claim 1 or 3, characterized in that: Each cylinder on the forearm device (2), the left arm device (3), the right arm device (4) and the rear arm device (5) is arranged below the suction cup (6) via a connecting bracket (10); the connecting bracket (10) is composed of a fixing ring (101) with a handle, a side mounting fixing seat (102), a guide shaft (103) and a cylinder fixing frame (104); the cylinder is mounted in the cylinder fixing frame (104) via screws, two guide shafts (103) are connected to the cylinder fixing frame (104), and each guide shaft (103) is provided with a fixing ring (101) and a side mounting fixing seat (102).

6. A three-degree-of-freedom adjustable cabin closing device according to claim 1, 2 or 3, characterized in that: It also includes a control console (8) and a hydraulic station (9), wherein the control console (8) and the hydraulic station (9) are arranged close to the left arm device (3) or the right arm device (4).

Images