Three-degree-of-freedom attitude adjustment mechanism

Abstract

The present invention relates to a three-degree-of-freedom attitude adjustment mechanism, which includes a horizontal turntable, a first rotating assembly, a second rotating assembly, and two adjusting seats; the first rotating assembly is located above the horizontal turntable; the fixed end of the second rotating assembly is connected to the movable end of the first rotating assembly, and the movable end of the second rotating assembly is used to connect the moving platform, and the rotation direction of the movable end of the second rotating assembly is perpendicular to the rotation direction of the movable end of the first rotating assembly; one end of the two adjusting seats is located above the horizontal turntable, and the other end is connected to the moving platform, and is used for multi-directional adjustment of the position and attitude of the moving platform. Compared with the manual adjustment and measurement of workers without tooling, this three-degree-of-freedom attitude adjustment mechanism can quantitatively adjust the attitude of the load, and solves the problems of low automation degree and poor docking accuracy in the existing assembly and docking scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of ship engineering, and particularly to a three-degree-of-freedom attitude adjustment mechanism. Background Art

[0002] The total section shipbuilding method is the current mainstream advanced shipbuilding method. Each section is assembled by multiple sub-assemblies, and further, according to size and weight, the sub-assemblies are also spliced by other sub-assemblies, which can be specifically divided into small sub-assemblies, medium sub-assemblies, and large sub-assemblies. Since the working environment of ships at sea is harsh, the accuracy and quality requirements for the assembly and docking of sub-assemblies are relatively high. It is necessary to ensure that the key features of two adjacent sub-assemblies, such as piercing structures, coincide in all directions.

[0003] Currently, the traditional docking process basically relies on manual labor. Workers first fix one section of the sub-assembly, then use a crane to lift the docking section, and manually adjust the attitude by means such as a puller. The whole process is complex in operation, low in efficiency, requires high operation skills of workers, and the quality cannot be guaranteed, seriously affecting the reliability and accuracy of shipbuilding.

[0004] In the application process of sub-assembly docking and assembly, compared with the position of the sub-assembly, the attitude adjustment of the sub-assembly itself is more important. Because the position adjustment of the sub-assembly only requires three translational degrees of freedom, which can be easily achieved by three groups of linear modules in industry. However, in the field of mechanism theory, the attitude adjustment requires ingenious mechanism design to achieve. At the same time, the self-weight of the sub-assembly also poses a high requirement for the load-bearing capacity of the attitude adjustment mechanism.

[0005] Although parallel mechanisms have the advantages of high stiffness, strong load-bearing capacity, and high position accuracy, there is still no special parallel mechanism tooling for sub-assembly attitude adjustment. The common six-degree-of-freedom parallel mechanisms in industry are relatively complex in structure, and the motion capabilities of three-degree-of-freedom parallel mechanisms do not match the requirements of sub-assembly attitude adjustment. Moreover, serial configuration industrial robots are even more unable to bear the load of sub-assemblies. Summary of the Invention

[0006] Based on this, in view of the above technical problems, it is necessary to provide a three-degree-of-freedom attitude adjustment mechanism, which can solve the problems of low automation degree and poor docking accuracy in the existing sub-assembly docking and assembly scenarios.

[0007] A three-degree-of-freedom attitude adjustment mechanism includes:

[0008] A horizontal turntable;

[0009] A first rotating assembly located above the horizontal turntable;

[0010] The second rotating assembly, the fixed end of which is connected to the movable end of the first rotating assembly, and the movable end of the second rotating assembly is used to connect the moving platform, and the rotation direction of the movable end of the second rotating assembly is perpendicular to the rotation direction of the movable end of the first rotating assembly;

[0011] Two adjusting seats, one end of which is located above the horizontal turntable and the other end is connected to the moving platform, and is used for multi-directional adjustment of the pose of the moving platform.

[0012] In one embodiment, a base is fixed on the horizontal turntable, the base has a high end and a low end, the first rotating assembly is installed at the high end, and the two adjusting seats are installed at the low end.

[0013] In one embodiment, both the movable end of the first rotating assembly and the movable end of the second rotating assembly can rotate in the vertical direction.

[0014] In one embodiment, the first rotating assembly includes:

[0015] Two bearing seats, coaxially arranged at the high end of the base;

[0016] A rotating shaft, both ends of which are respectively installed in the two bearing seats.

[0017] In one embodiment, the second rotating assembly includes:

[0018] A fixed rod, one end of which is fixedly connected to the rotating shaft, and the fixed rod is perpendicular to the rotating shaft;

[0019] A movable sleeve, rotatably installed on the fixed rod and connected to the moving platform.

[0020] In one embodiment, the ends of the two adjusting seats connected to the moving platform are oppositely arranged with the second rotating assembly as the symmetry center.

[0021] In one embodiment, the adjusting seat includes:

[0022] A third rotating assembly;

[0023] A fourth rotating assembly;

[0024] The third rotating assembly and the fourth rotating assembly have at least one rotation direction;

[0025] A telescopic member, one end of which is connected to the low end of the base through the third rotating assembly, and the other end of which is connected to the moving platform through the fourth rotating assembly.

[0026] In one embodiment, the third rotating assembly has two rotating directions, one of which is parallel to the rotating direction of the first rotating assembly, and the other is parallel to the rotating direction of the second rotating assembly.

[0027] In one embodiment, the fourth rotating assembly has one rotating direction, and this rotating direction is parallel to the rotating direction of the second rotating assembly.

[0028] In one embodiment, a variety of mounting holes are provided on the moving platform for mounting different loads.

[0029] For the above three-degree-of-freedom pose adjustment mechanism, the adjustment section assembly is fixed on the moving platform and moves together with the pose adjustment mechanism, while the fixed-end assembly is fixed on the ground or the corresponding bracket, and the pose of the fixed-end assembly is determined. After obtaining the relative pose of the adjustment section assembly and the fixed-end assembly through other measurement means, the required adjustment amount can be calculated, and then the three-degree-of-freedom pose adjustment of the adjustment section assembly can be realized through the inverse kinematics of the mechanism, that is, the pose adjustment of the first rotating assembly, the second rotating assembly and the two adjusting seats. Compared with the manual adjustment and measurement of workers without tooling, this three-degree-of-freedom pose adjustment mechanism can quantitatively adjust the pose of the load, and solves the problems of low automation degree and poor docking accuracy in the existing assembly and docking scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0031] Figure 1 is a schematic diagram of the principle of the three-degree-of-freedom pose adjustment mechanism of the present invention;

[0032] Figure 2 is a schematic structural diagram of the three-degree-of-freedom pose adjustment mechanism of the present invention;

[0033] Figure 3 is a schematic diagram of a partial structure of the three-degree-of-freedom pose adjustment mechanism of the present invention;

[0034] Figure 4 is a schematic diagram of an application scenario of the three-degree-of-freedom pose adjustment mechanism of the present invention.

[0035] Reference numerals:

[0036] 110, Horizontal turntable; 120, Base; 200, First rotating assembly; 300, Second rotating assembly; 410, Telescopic member; 420, Third rotating assembly; 430, Fourth rotating assembly; 500, Moving platform. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the description of the present invention are only for the purpose of illustration and do not represent the only implementation manners.

[0039] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0040] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may be that the first feature is in direct contact with the second feature or the first feature is indirectly in contact with the second feature through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0041] Unless otherwise defined, all technical and scientific terms used in the description of the present invention have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the description of the present invention includes any and all combinations of one or more of the related listed items.

[0042] The following will describe the three-degree-of-freedom attitude adjustment mechanism of the present invention in conjunction with Figures 1-4 Describe the three-degree-of-freedom attitude adjustment mechanism of the present invention.

[0043] As Figure 2 and Figure 3 shown, in one embodiment, a three-degree-of-freedom attitude adjustment mechanism includes a horizontal turntable 110, a first rotating assembly 200, a second rotating assembly 300, and two adjusting seats; the first rotating assembly 200 is located above the horizontal turntable 110; the fixed end of the second rotating assembly 300 is connected to the movable end of the first rotating assembly 200, and the movable end of the second rotating assembly 300 is used to connect to the movable platform 500, and the rotation direction of the movable end of the second rotating assembly 300 is perpendicular to the rotation direction of the movable end of the first rotating assembly 200; one end of the two adjusting seats is located above the horizontal turntable 110, and the other end is connected to the movable platform 500 for multi-directional adjustment of the position and attitude of the movable platform 500.

[0044] For the above three-degree-of-freedom attitude adjustment mechanism, as Figure 4 shown, the adjustment section assembly is fixed on the movable platform 500 and moves together with the attitude adjustment mechanism, while the fixed end assembly is fixed on the ground or the corresponding bracket, and the position and attitude of the fixed end assembly are determined. After obtaining the relative position and attitude of the adjustment section assembly and the fixed end assembly through other measurement means, the required adjustment amount can be calculated, and then the three-degree-of-freedom attitude adjustment of the adjustment section assembly can be realized through the inverse kinematics of the mechanism, that is, the attitude adjustment of the first rotating assembly 200, the second rotating assembly 300, and the two adjusting seats. Compared with the manual adjustment and measurement of workers without tooling, this three-degree-of-freedom attitude adjustment mechanism can quantitatively adjust the attitude of the load, solving the problems of low automation and poor docking accuracy in the existing assembly and docking scenarios.

[0045] In one embodiment, a base 120 is fixed on the horizontal turntable 110. The base 120 has a high end and a low end. The first rotating assembly 200 is installed at the high end, and the two adjusting seats are installed at the low end.

[0046] Specifically, this three-degree-of-freedom attitude adjustment mechanism adopts a series-parallel hybrid mechanism, in which the horizontal turntable 110 is horizontally fixed on the base 120 as the series part, providing support and rotational freedom for the parallel part above. The parallel part includes the first rotating assembly 200, the second rotating assembly 300, and two adjusting members.

[0047] In one embodiment, the movable ends of the first rotating assembly 200 and the second rotating assembly 300 can both rotate in the vertical direction.

[0048] Specifically, in the normal state, the first rotating assembly 200 and the second rotating assembly 300 are in a horizontal or near-horizontal state. Therefore, both the first rotating assembly 200 and the second rotating assembly 300 can rotate in the vertical direction when rotating.

[0049] In one embodiment, the first rotating assembly 200 includes two bearing seats and a rotating shaft; the two bearing seats are coaxially arranged at the high-position end of the base 120; both ends of the rotating shaft are respectively installed in the two bearing seats.

[0050] The second rotating assembly 300 includes a fixed rod and a movable sleeve; one end of the fixed rod is fixedly connected to the rotating shaft, and the fixed rod is perpendicular to the rotating shaft; the movable sleeve is rotatably installed on the fixed rod and is connected to the moving platform 500.

[0051] Specifically, after the adjustment section assembly is fixed on the moving platform 500, if the height difference between the front and rear ends of the adjustment section assembly is inconsistent with the height difference between the front and rear ends of the fixed section assembly, the rotating shaft is rotated so that the height difference between the front and rear ends of the adjustment section assembly is consistent with the height difference between the front and rear ends of the fixed section assembly, and the relative ends of the two can be aligned in height. If the height difference between the left and right ends of the adjustment section assembly is inconsistent with the height difference between the left and right ends of the fixed section assembly, the movable sleeve is rotated so that the height difference between the left and right ends of the adjustment section assembly is consistent with the height difference between the left and right ends of the fixed section assembly, and the relative ends of the two can be aligned in height.

[0052] In one embodiment, the ends of the two adjusting seats connected to the moving platform 500 are arranged oppositely with the second rotating assembly 300 as the symmetry center.

[0053] Specifically, the two adjusting seats are symmetrically arranged below the moving platform 500 and are relatively connected to the moving platform 500. By setting the positions of the two adjusting seats identically, it is more convenient and accurate to calculate the inverse kinematics of the adjustment posture of the three-degree-of-freedom posture adjustment mechanism subsequently.

[0054] In one embodiment, the adjusting seat includes a third rotating assembly 420, a fourth rotating assembly 430, and a telescopic member 410; the third rotating assembly 420 and the fourth rotating assembly 430 have at least one rotating direction; one end of the telescopic member 410 is connected to the low-position end of the base 120 through the third rotating assembly 420, and the other end is connected to the moving platform 500 through the fourth rotating assembly 430.

[0055] Specifically, the telescopic member 410 is a power telescopic rod, and the specific driving force is electricity, pneumatic force, etc. according to actual application requirements. If the rotating assembly has one rotating direction, the rotating assembly is composed of a bearing seat and a movable block installed on the bearing seat. If the rotating assembly has two rotating directions, the rotating assembly is composed of two bearing seats and a movable block installed on the two bearing seats.

[0056] In one embodiment, the third rotating assembly 420 has two rotating directions, one of which is parallel to the rotating direction of the first rotating assembly 200, and the other is parallel to the rotating direction of the second rotating assembly 300.

[0057] The fourth rotating assembly 430 has one rotating direction, and this rotating direction is parallel to the rotating direction of the second rotating assembly 300.

[0058] Specifically, when the rotating assembly has two rotating directions, the rotating axes of the two bearing seats intersect and are perpendicular, and the two bearing seats are connected by a movable block.

[0059] In one embodiment, a variety of mounting holes are provided on the moving platform 500 for mounting different loads.

[0060] Such as Figure 1 As shown, in this embodiment, the structural principle of the three-degree-of-freedom posture adjustment mechanism is described. This posture adjustment mechanism adopts a series-parallel hybrid method, where two adjustment seats are of the UPR configuration, namely the first motion branch chain and the second motion branch chain. Specifically, A1 is the U pair of the first motion branch chain, B1 is the P pair of the first motion branch chain, C1 is the R pair of the first motion branch chain, A2 is the U pair of the second motion branch chain, B2 is the P pair of the second motion branch chain, and C2 is the R pair of the second motion branch chain.

[0061] The first rotating assembly 200 and the second rotating assembly 300 together form the RC configuration, which is the third motion branch chain. Specifically, A3 is the R pair of the third motion branch chain, C3 is the C pair of the third motion branch chain, and the moving platform 500 is fixed on the C pair, and various loads can be installed and fixed thereon through a flange. Among them, the first rotating assembly 200 is the R pair of the third motion branch chain, the second rotating assembly 300 is the C pair, and the direction of the R pair is the y-axis direction of the coordinate system of the posture adjustment mechanism. S represents the horizontal turntable 110.

[0062] The third rotating assembly 420 is the U pair of the adjustment seat, the fourth rotating assembly 430 is the R pair of the adjustment seat, and the telescopic member 410 is the P pair of the adjustment seat. The U pair of the first motion branch chain is connected to the horizontal turntable 110, and one rotating axis direction of the U pair is parallel to the rotating axis direction of the R pair of the third motion branch chain, and the other rotating axis direction of the U pair is parallel to the rotating axis direction of the R pair within this branch chain, that is, the two R pairs on both sides of the active P pair are parallel.

[0063] The first axis of the U pair of the first kinematic chain and the second kinematic chain is collinear, the axes of the R pairs are collinear, and in the zero-position configuration of the mechanism, the directions of the two P pairs are parallel. At this time, the axis direction of the R pair of the third kinematic chain is the x direction of the mechanism.

[0064] Among them, the R pair represents having only one rotation direction; the U pair consists of two R pairs that are orthogonal to each other; the P pair represents a linear motion mechanism, and the C pair is a mechanism similar to the R pair with only one rotation direction.

[0065] Analyzing the degrees of freedom of the mechanism from the perspective of constraint screws, for the first kinematic chain of the parallel mechanism part, its U pair has ξ 11 = [0, 1, 0, c, 0, a] T and ξ 12 = [1, 0, 0, 0, -c, b] T as the motion screws, the P pair has ξ 13 = [0, 0, 0, 0, 0, 1] T as the motion screw, and the R pair has ξ 14 = [1, 0, 0, 0, 0, b] T as the motion screw. Therefore, the synthetic motion screw system of the first kinematic chain is ξ1 = [ξ 11 , ξ 12 , ξ 13 , ξ 14 T , then the constraint screw system of the first kinematic chain on the moving platform 500 is That is to say, the first kinematic chain has a rotational constraint screw along the direction of the P pair axis and a translational constraint screw along the direction perpendicular to the R pair and P pair axes on the moving platform 500.

[0066] For the second kinematic chain of the parallel mechanism part, its U pair has ξ 21 = [0, 1, 0, c, 0, a] T and ξ 22 = [1, 0, 0, 0, -c, -b] T as the motion screws, the P pair has ξ 23 = [0, 0, 0, 0, 0, 1] T as the motion screw, and the R pair has ξ 24 = [1, 0, 0, 0, 0, -b] T as the motion screw. Therefore, the synthetic motion screw system of the second kinematic chain is ξ2 = [ξ 21 , ξ 22 , ξ 23 , ξ 24 T , then the constraint screw system of the second kinematic chain on the moving platform 500 is​​ Since the form of the second kinematic chain is exactly the same as that of the first kinematic chain, the constraint screws are also exactly the same. Specifically, the second kinematic chain has a rotational constraint screw on the moving platform 500 along the direction of the axis of the P pair and a translational constraint screw along the direction perpendicular to the axes of the R pair and the P pair.

[0067] The kinematic screw system of the third kinematic chain is ξ3 = [ξ 31 , ξ 32 T , where ξ 31 = [0, 1, 0, 0, 0, 0] T , So the constraint screw system of the third kinematic chain is The third kinematic chain has a translational constraint screw along the axis of the R pair, a translational constraint screw along the direction perpendicular to the axes of the R pair and the C pair, and a rotational constraint screw about the direction perpendicular to the axes of the R pair and the C pair.

[0068] The constraint screws of the three kinematic chains are combined on the moving platform 500, $ = [$, 1, $, 2, $, 3] T , and rank($) = 4. Through the above analysis, the kinematic screw system of the parallel part of the moving platform 500 is obtained as So the moving platform 500 only has the rotational ability about the axis of the R pair of the third kinematic chain and the rotational ability about the axis of the C pair, corresponding to the attitude adjustment ability about the y-axis and the x-axis in the default configuration. For the serial mechanism part, the horizontal turntable 110 provides an additional rotational ability about the z-axis [0, 0, 1, 0, 0, 0] T , so the kinematic screw system of the moving platform 500 of the hybrid configuration is Therefore, this three-degree-of-freedom attitude adjustment mechanism has the attitude adjustment ability in any direction in space.

[0069] For the above three-degree-of-freedom attitude adjustment mechanism, the load-bearing part adopts a parallel configuration, which can average the motion, geometric, and deformation errors brought by each kinematic chain, eliminate the cumulative errors of each joint, and further reduce the motion errors. At the same time, a servo drive system can be adopted to further ensure the driving accuracy.

[0070] ​More specifically, the three-degree-of-freedom attitude adjustment mechanism adopts a hybrid configuration. The series part is responsible for realizing the rotation around the z-axis, which is equivalent to a horizontal turntable 110 arranged on the ground. Therefore, its load-bearing capacity can be fully ensured by using crossed roller bearings or face bearings. The parallel part is responsible for realizing the attitude adjustment in the remaining two directions. The parallel mechanism itself has the characteristics of high rigidity and strong load-bearing capacity. Therefore, the invented attitude adjustment mechanism has a strong load-bearing capacity. At the same time, the equivalent inertia of the moving platform 500 at the end of the parallel mechanism is small, the movement is flexible, the stability is good, the structure is simple, the working space is large, the size of the moving platform 500 is large, and various styles of medium-sized sub-assemblies can be installed on the flange of the moving platform 500, which is suitable for the scenarios of assembling and docking of various models of sub-assemblies. Moreover, the materials used can be directly purchased, the connecting rods and frame structures used are simple, and can be easily obtained through machining, and the cost is relatively low.

[0071] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0072] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A three-degree-of-freedom attitude adjustment mechanism, characterized in that, Comprising: A horizontal turntable; A first rotating assembly located above the horizontal turntable; the first rotating assembly includes two bearing seats and a rotating shaft; The two bearing seats are coaxially arranged at the high end of the base; both ends of the rotating shaft are respectively installed in the two bearing seats; A second rotating assembly, the second rotating assembly includes a fixed rod and a movable sleeve; one end of the fixed rod is fixedly connected to the rotating shaft; the fixed end is connected to the movable end of the first rotating assembly, and the movable end of the second rotating assembly is used to connect to the moving platform, and the rotation direction of the movable end of the second rotating assembly is perpendicular to the rotation direction of the movable end of the first rotating assembly; Two adjusting seats, one end is located above the horizontal turntable, and the other end is connected to the moving platform, for multi-directional adjustment of the pose of the moving platform; A base is fixed on the horizontal turntable, the base has a high end and a low end, the first rotating assembly is installed at the high end, and the two adjusting seats are installed at the low end; The adjusting seat includes: a third rotating assembly; A fourth rotating assembly; The third rotating assembly and the fourth rotating assembly have at least one rotation direction; A telescopic member, one end is connected to the low end of the base through the third rotating assembly, and the other end is connected to the moving platform through the fourth rotating assembly.

2. The three-degree-of-freedom attitude adjustment mechanism according to claim 1, wherein Both the movable end of the first rotating assembly and the movable end of the second rotating assembly can rotate in the vertical direction.

3. The three-degree-of-freedom attitude adjustment mechanism according to claim 2, wherein The first rotating assembly includes: Two bearing seats, coaxially arranged at the high end of the base; A rotating shaft, both ends are respectively installed in the two bearing seats.

4. The three-degree-of-freedom posture adjustment mechanism according to claim 3, characterized in that, The second rotating assembly includes: A fixed rod, one end is fixedly connected to the rotating shaft, and the fixed rod is perpendicular to the rotating shaft; A movable sleeve, rotatably installed on the fixed rod and connected to the moving platform.

5. The three-degree-of-freedom attitude adjustment mechanism according to claim 4, characterized in that, The ends of the two adjusting seats connected to the moving platform are oppositely arranged with the second rotating assembly as the symmetry center.

6. The three-degree-of-freedom attitude adjustment mechanism according to claim 1, characterized in that The third rotating assembly has two rotation directions, one rotation direction is parallel to the rotation direction of the first rotating assembly, and the other rotation direction is parallel to the rotation direction of the second rotating assembly.

7. The three-degree-of-freedom attitude adjustment mechanism according to claim 6, wherein The fourth rotating assembly has one rotation direction, and this rotation direction is parallel to the rotation direction of the second rotating assembly.

8. The three-degree-of-freedom attitude adjustment mechanism according to claim 7, wherein, A variety of mounting holes are provided on the moving platform for mounting different loads.

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