An adaptive alignment mechanism

Abstract

The application discloses a self-adaptive alignment mechanism, which comprises a seat body, a positioning pin installed on the seat body, a movable plate, a fixed plate, a plurality of retaining edges and a plurality of balls, the upper end of the seat body is provided with the movable plate, the upper end face of the movable plate is provided with a plurality of ball grooves, each ball groove is provided with a ball, the top surface of the ball is higher than the upper end face of the movable plate, a ball movement gap is formed between the outer lateral wall of the ball and the lateral wall of the ball groove, the periphery of the fixed plate is provided with the plurality of retaining edges, each retaining edge is provided with a hook portion which is inwardly protruded from the lower surface of the fixed plate, the movable plate is accommodated between the fixed plate and the hook portion and can move up and down between the fixed plate and the hook portion, and a horizontal surface movement gap is formed between the inner lateral wall of the retaining edge and the outer lateral wall of the movable plate. The self-adaptation in the X, Y axis direction and the rotation direction can be realized by using one layer structure, the structure is simple, and the space occupation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning mechanisms, and in particular to an adaptive alignment mechanism in the mechanical processing industry. Background Art

[0002] In the machining industry, many motion mechanisms utilize locating pins for positioning. This approach requires adaptive positioning in the X-axis, Y-axis, and rotational directions. The commonly used approach in the prior art employs an X-axis guide rail or dovetail groove for adaptive positioning as the first layer, a Y-axis guide rail or dovetail groove for adaptive positioning as the second layer, and a rotation mechanism for adaptive positioning as the third layer.

[0003] That is, if the adaptive mechanism in the prior art meets the needs of adaptive positioning in the X, Y axis directions and the rotation direction, it is a three-layer mechanism with a complex structure and occupies a large space.

[0004] Therefore, the existing technology needs to be improved. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an adaptive alignment mechanism, which aims to achieve adaptation in the X, Y axis directions and rotation direction using a single layer of structure, with a simple structure and reduced space occupation.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention proposes an adaptive alignment mechanism, comprising a base, a positioning pin mounted on the base and exposed from the bottom surface of the base, and further comprising a movable plate, a fixed plate, a plurality of ribs and a plurality of balls;

[0008] The movable plate is mounted on the upper end of the seat body, and a plurality of ball grooves are formed on the upper end surface of the movable plate. A ball is placed in each ball groove, and the top surface of the ball is higher than the upper end surface of the movable plate. A ball movable gap is formed between the outer side wall of the ball and the side wall of the ball groove.

[0009] The plurality of ribs are fixedly installed on the periphery of the fixed plate, and each of the ribs is provided with a hook protruding inward from the lower side of the fixed plate. The movable plate is received between the fixed plate and the hook and can move up and down between the fixed plate and the hook, and a horizontal movement gap is formed between the inner side wall of the rib and the outer side wall of the movable plate.

[0010] When the movable plate moves upward to the highest position, the top of the ball contacts the lower end surface of the fixed plate and can roll relative to the fixed plate. When the ball rolls relative to the fixed plate, the movable plate moves relative to the fixed plate in the XY directions in the horizontal plane and rotates in the horizontal plane.

[0011] When the movable plate moves downward to the lowest position, the lower end surface of the movable plate abuts against the upper end surface of the hook portion.

[0012] When the movable plate is at the highest position, a first vertical gap is formed between the lower end surface of the fixed plate and the upper end surface of the movable plate, and a second vertical gap is formed between the upper end surface of the hook and the lower end surface of the movable plate.

[0013] Wherein, the first vertical gap is 0.6-0.7 mm, and the second vertical gap is 0.1-0.3 mm.

[0014] Wherein, the horizontal plane movement gap is larger than the ball movement gap.

[0015] Wherein, the ball movable clearance is 0.2-0.3 mm.

[0016] There are four ball grooves, and the four ball grooves are distributed along the four corner positions of a quadrilateral on the upper end surface of the movable plate. Correspondingly, there are four balls distributed in the four ball grooves respectively.

[0017] Wherein, the ball bearing groove is a cylindrical groove.

[0018] Wherein, each side rib is provided with two hook portions at intervals.

[0019] Wherein, the lower end surface of the positioning pin is provided with a chamfer.

[0020] Wherein, the upper end of the fixing plate is connected to an up and down displacement driving unit.

[0021] It should be understood that within the scope of the present invention, the above-mentioned technical features of the present invention and the technical features specifically described below (such as implementation methods) can be combined with each other to form new or preferred technical solutions. Due to space limitations, they will not be listed here one by one.

[0022] The adaptive alignment mechanism of the present invention is provided with a movable plate and a fixed plate, wherein a retaining edge is fixed to the periphery of the fixed plate, a hook portion is provided at the bottom of the retaining edge, the movable plate is located between the lower end face of the fixed plate and the upper end face of the hook portion, and a ball bearing is provided on the movable plate for contacting the lower end face of the fixed plate, and a horizontal plane moving gap is formed between the inner side wall of the retaining edge and the outer side wall of the movable plate. In this way, during the positioning process, the movable plate can move up and down relative to the fixed plate. At the same time, when the fixed plate and the ball bearings on the movable plate abut against each other, because the ball bearings can roll in the ball bearing grooves, and there is a horizontal plane moving gap between the movable plate and the retaining edge, when the positioning pin is subjected to external force during the positioning process, the seat body and the movable plate connected thereto can adaptively move and rotate in the X and Y directions of the horizontal plane, thereby completing the adaptive positioning. The adaptive alignment mechanism of the present invention only uses the movable plate, the fixed plate, and the ball bearings as the mechanism to achieve adaptive positioning, has a simple structure, and reduces the space occupied by the entire mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the structure of the adaptive alignment mechanism of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the decomposition;

[0025] Figure 3 It is a structural diagram of a movable plate with a ball mounted on the upper end surface;

[0026] Figure 4 A schematic diagram of a baffle installed around the fixed plate;

[0027] Figure 5 It is a cross-sectional diagram of the mechanism when the movable plate moves to the highest position;

[0028] Figure 6 for Figure 5 A magnified schematic diagram of point A in the middle;

[0029] Figure 7 Schematic diagram of the moving direction of the movable plate relative to the fixed plate in the horizontal plane;

[0030] Figure 8 It is a partial cross-sectional diagram of the mechanism when the movable plate moves down to the lowest position;

[0031] Figure 9 This is a structural diagram of the up and down displacement drive unit installed on the fixed plate.

[0032] Description of reference numerals:

[0033] 100-alignment mechanism, 1-base, 10-workpiece mounting hole, 2-locating pin, 21-chamfer, 3-movable plate, 31-ball groove, 32-through slot, 4-fixed plate, 5-rib, 50-cavity, 51-hook, 6-ball, 60-ball movable gap, 7-horizontal plane moving gap, 81-first vertical gap, 82-second vertical gap, 200-up and down displacement drive unit. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] Please refer to Figures 1 to 6 The present invention provides an adaptive alignment mechanism 100, comprising a base 1, a positioning pin 2 mounted on the base 1 and exposed from the bottom surface of the base 1. The positioning pin 2 is used to align with a positioning device, such as a positioning hole, on a processing platform or workpiece, so that the next step can be performed after alignment.

[0036] The adaptive alignment mechanism 100 of the present invention further includes a movable plate 3, a fixed plate 4, multiple ribs 5, and multiple balls 6. The movable plate 3 is mounted on the upper end of the base 1. The upper end surface of the movable plate 3 is provided with multiple ball grooves 31. Each ball groove 31 accommodates a ball 6. The top surface of the ball 6 is higher than the upper end surface of the movable plate 3. A ball clearance 60 is formed between the outer sidewall of the ball 6 and the sidewall of the ball groove 31. The bottom surface of the ball 6 abuts the movable plate 3. In this embodiment of the present invention, the clearance 60 between the spherical outer sidewall of the ball 6 and the corresponding sidewall of the ball groove 31 allows the ball 6 to roll within a 360-degree range on the horizontal plane.

[0037] Since the top surface of the ball 6 is higher than the upper end surface of the movable plate 3, other components are provided above the movable plate 3. The bottom surface of the component contacts the top of the ball 6 but does not directly contact the upper end surface of the movable plate 3. At the same time, due to the existence of the ball movable gap 60, the ball 6 can roll in the ball groove 31 in the movable plate 3, so that the other components pressed on the top of the ball 6 and the movable plate 3 move relative to each other.

[0038] Since the upper end of the base body 1 is connected and fixed to the movable plate 3, and the lower end of the base body 1 is fixed with a positioning pin 2, when the positioning pin 2 is subjected to the reverse force of the positioning device on the processing platform or the workpiece during the positioning process, it will be transmitted to the movable plate 3, causing the positioning pin 2, the base body 1, and the movable plate 3 to move as a whole.

[0039] The peripheral edge of the fixed plate 4 of the present invention is fixed with the plurality of ribs 5, each of which is provided with a hook 51 protruding inward from the bottom of the fixed plate 4. The hook 51 is located below the lower end surface of the fixed plate 4 and extends from the inner side wall of the rib 5. A cavity 50 is formed between the plane of the lower end surface of the fixed plate 4 and the plane of the upper end surface of the hook 51. Figure 4 and Figure 5 As shown, the movable plate 3 is received between the fixed plate 4 and the hook portion 51 and can move up and down between the fixed plate 4 and the hook portion 51. That is, the movable plate 3 is located between the lower end surface of the fixed plate 4 and the upper end surface of the hook portion 51, and after the movable plate 3 is installed in the cavity 50 between the lower end surface of the fixed plate 4 and the upper end surface of the hook portion 51, there is still a gap in the cavity 50, so that the movable plate 3 can move up and down between the lower end surface of the fixed plate 4 and the upper end surface of the hook portion 51.

[0040] The movable plate 3 is arranged to move up and down between the lower end surface of the fixed plate 4 and the upper end surface of the hook 51, so that when the positioning pin 2 is not subjected to the upward reaction force, the movable plate 3 is in a naturally descending state. At this time, the lower end surface of the movable plate 3 and the upper end surface of the hook 51 abut against each other, so that the movable plate 3 is hooked by the hook 51 of the retaining edge 5, and the ball 6 on the upper end surface of the movable plate 3 is disengaged from the lower end surface of the fixed plate 4; when the positioning pin 2 is subjected to an upward reaction force, the movable plate 3 is in a state of being pushed upward, and at this time, the lower end surface of the movable plate 3 and the upper end surface of the hook 51 are disengaged, and the ball 6 on the upper end surface of the movable plate 3 will abut against the lower end surface of the fixed plate 4.

[0041] like Figure 6 As shown, a horizontal plane movement gap 7 is formed between the inner side wall of the retaining edge 5 and the outer side wall of the movable plate 3. In the embodiment of the present invention, a horizontal plane movement gap 7 is formed between the inner side wall of each retaining edge 5 and the outer side wall corresponding to the movable plate 3. When the movable plate 3 is pushed upward, and the ball 6 on the upper end face of the movable plate 3 abuts against the lower end face of the fixed plate 4, due to the existence of the horizontal plane movement gap 7, if the positioning pin 2 is subjected to a lateral movement force when docking with the positioning hole, the movable plate 3 will also be subjected to the lateral movement force, and the ball 6 on the movable plate 3 will roll on the movable plate 3 and the fixed plate 4, thereby causing the movable plate 3 to generate a lateral movement in the X direction or Y direction relative to the fixed plate 4 in the horizontal plane, or a slight rotation, such as Figure 7 As shown in FIG, the movable plate 3 moves relative to the fixed plate 4 in the horizontal plane in the X or Y direction, and rotates slightly in the horizontal plane, thereby achieving adaptive positioning and docking of the alignment mechanism. In this embodiment of the present invention, the horizontal plane movement gap 7 is larger than the ball movement gap 60 to prevent the movable plate 3 from moving laterally in the X or Y direction relative to the fixed plate 4 in the horizontal plane, or from causing the retaining edge to block the movable plate 3 during slight rotation, thereby preventing adaptive positioning.

[0042] The adaptive alignment mechanism 100 of the present invention can achieve adaptive positioning by using only a layer of the movable plate 3, the fixed plate 4 and the balls 6. The structure is simple and the space occupied by the entire mechanism 100 is greatly reduced.

[0043] The retaining edge 5 of the embodiment of the present invention serves to limit the movable plate 3. That is, when the movable plate 3 moves laterally in the X direction or the Y direction in the horizontal plane, or rotates slightly to a preset value, it will be blocked by the inner side wall of the retaining edge 5. This can prevent the movable plate 3 from separating from the fixed plate 4 in the horizontal direction. At the same time, due to the arrangement of the hook portion 51 on the retaining edge 5, the movable plate 3 is prevented from separating from the fixed plate 4 in the vertical direction.

[0044] Specifically, if Figure 5 and Figure 6 As shown, when the movable plate 3 moves upward to its highest position, the top of the ball bearing 6 abuts against the lower end surface of the fixed plate 4 and can roll relative to the fixed plate 4. When the ball bearing 6 rolls relative to the fixed plate 4, the movable plate 3 moves in the X and Y directions within the horizontal plane and rotates within the horizontal plane relative to the fixed plate 4. When the positioning pin 2 is subjected to an upward force, the movable plate 3 is also pushed upward and begins to move upward relative to the fixed plate 4 until the top of the ball bearing 6 on the movable plate 3 abuts against the lower end surface of the fixed plate 4. At this time, the movable plate 3 moves upward to its highest position and will not move further upward due to the restriction of the fixed plate 4.

[0045] When the movable plate 3 moves to the highest position, the top of the ball 6 abuts against the lower end surface of the fixed plate 4, and the bottom of the ball 6 abuts against the bottom wall of the ball groove of the movable plate 3. Under the action of the lateral force, the ball 6 rolls relative to the movable plate 3 and the fixed plate 4, so that the movable plate 3 can move in the XY direction in the horizontal plane and rotate in the horizontal plane relative to the fixed plate 4.

[0046] like Figure 8 As shown, when the movable plate 3 moves downward to the lowest position, the lower end surface of the movable plate 3 abuts against the upper end surface of the hook portion 51. When the upward external force on the positioning pin 2 becomes smaller or is completely removed, the movable plate 3 moves downward relative to the fixed plate 4. When the lower end surface of the movable plate 3 abuts against the upper end surface of the hook portion 51, the movable plate 3 moves downward to the lowest position. At this time, the movable plate 3 is hooked by the hook portion 51 and the movable plate 3 is completely supported by the hook portion 51.

[0047] In the present invention, Figure 6 As shown, when the movable plate 3 is at the highest position, a first vertical gap 81 is formed between the lower end surface of the fixed plate 4 and the upper end surface of the movable plate 3 , and a second vertical gap 82 is formed between the upper end surface of the hook portion 51 and the lower end surface of the movable plate 3 .

[0048] Preferably, the first vertical gap is 0.6-0.7 mm, and the second vertical gap is 0.1-0.3 mm. The first vertical gap 81 is the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 when the ball 6 abuts the lower end surface of the fixed plate 4. At this time, the upper end surface of the hook 51 is separated from the lower end surface of the movable plate 3, forming a second vertical gap 82.

[0049] Assuming that the movable plate 3 moves to the highest position, that is, when the ball 6 abuts against the lower end surface of the fixed plate 4, the first vertical gap is 0.5mm and the second vertical gap is 0.2mm. Then, when the movable plate 3 moves to the lowest position, the upper end surface of the hook 51 abuts against the lower end surface of the movable plate 3, as shown in FIG. Figure 8 As shown in , the second vertical gap disappears and becomes zero at this time, and the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 becomes larger, which is the distance of the first vertical gap plus the second vertical gap. That is, when the movable plate 3 moves to the lowest position, the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 becomes larger to 0.7 mm.

[0050] Preferably, the ball movement clearance 60 of the embodiment of the present invention is 0.2-0.3 mm, that is, the movement clearance of the movable plate 3 relative to the fixed plate 4 in the horizontal plane is 0.2-0.3 mm, so as to conveniently realize the adaptive alignment of the positioning pin 2.

[0051] In the present invention, Figure 1 As shown, a workpiece mounting hole 10 is provided in the middle of the base body 1 and is exposed from the lower end of the base body 1. The workpiece mounting hole 10 is used to mount the workpiece. When the positioning pin 2 is positioned, the corresponding positions of the workpiece and the processing platform are also positioned to proceed to the next step.

[0052] like Figure 9 As shown, the upper end of the fixed plate 4 of the present invention is connected to a vertical displacement drive unit 200. The vertical displacement drive unit 200 moves the fixed plate 4 up and down, causing the alignment mechanism 100 to move up and down as a whole. The vertical displacement drive unit 200 can be driven by hydraulic pressure, pneumatic pressure or motor.

[0053] The positioning process of the adaptive alignment mechanism 100 of the present invention is as follows. It is assumed that there are positioning holes on the processing platform and the positioning pins 2 are connected:

[0054] 1. In the initial state, the positioning pin 2 of the alignment mechanism 100 has not yet abutted against the processing platform. At this time, the movable plate 3 is in a natural sinking state and is suspended on the hook portion 51 of the retaining edge 5. Figure 8 As shown in , at this time, the distance between the lower end surface of the movable plate 3 and the upper end surface of the hook portion 51 is zero, and the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 is the largest, which is the distance between the first vertical gap 81 and the second vertical gap 82.

[0055] 2. The vertical displacement drive unit 200 moves downward, driving the entire alignment mechanism 100 downward, and causing the positioning pin 2 of the alignment mechanism 100 to move downward toward the positioning hole on the processing platform. At this time, the positioning pin 2 and the center of the positioning hole are not in the same straight line and have a slight deviation.

[0056] 3. When the positioning pin 2 abuts against the edge plane of the positioning hole on the processing platform, the positioning pin 2 is lifted up, and the base body 1 and the movable plate 3 are also lifted up and move upward. During the upward movement, the distance between the lower end surface of the movable plate 3 and the upper end surface of the hook 51 gradually increases from zero, while the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 gradually decreases from the maximum.

[0057] 4. The movable plate 3 moves upward until the ball 6 on the upper end surface of the movable plate 3 abuts against the lower end surface of the fixed plate 4. At this time, the distance between the lower end surface of the movable plate 3 and the upper end surface of the hook 51 is the largest, which is the second vertical gap 82, and the distance between the upper end surface of the movable plate 3 and the lower end surface of the fixed plate 4 is the smallest, which is the first vertical gap 81.

[0058] 5. After the ball 6 abuts against the lower end surface of the fixed plate 4, the movable plate 3 cannot move further upward. At this time, the wall of the positioning hole applies a lateral movement force to the positioning pin 2. Under the action of the ball 6, the movable plate 3 moves in the XY direction in the horizontal plane relative to the fixed plate 4 and makes a slight rotational motion, aligning the center of the positioning pin 2 with the center of the positioning hole to complete the adaptive positioning docking.

[0059] It can be understood that during the above positioning and docking process, the positioning pin 2 may be subjected to both an upward force and a lateral force, so that the movable plate 3 moves upward and lateral within the water surface simultaneously.

[0060] Preferably, there are four ball grooves 31 on the movable plate 3 of the positioning mechanism 100 of the present invention, and the four ball grooves 31 are distributed along the four corner positions of the quadrilateral on the upper end surface of the movable plate 3. Correspondingly, there are four balls 6 distributed in the four ball grooves 31 respectively.

[0061] In this way, the four balls 6 support the fixed plate 4 at the four corners of the quadrilateral to ensure the stability of the support of the fixed plate 4. It can be understood that the ball grooves 31 can also be set to three triangular distributions. In other embodiments, the ball grooves 31 can also be set to 6, 8, etc.

[0062] In the embodiment of the present invention, a plurality of ball rolling grooves 31 are connected to each other by through grooves 32. The provision of the through grooves 32 facilitates the processing of the ball rolling grooves 31.

[0063] As an embodiment, the ball groove 31 is a cylindrical groove. The cylindrical groove is convenient for placing the ball 6, and the gap between the side wall of the cylindrical groove and the outer side wall of the ball 6 is equal, which facilitates the control of positioning accuracy.

[0064] Preferably, each rib 5 is provided with two hooks 51 at intervals, which can improve the stability of the rib 5 in supporting the movable panel 3 .

[0065] In the embodiment of the present invention, the movable plate 3 and the fixed plate 4 are both quadrilaterals. Correspondingly, four retaining edges 5 are respectively fixed on the front, back, left and right sides of the fixed plate 4. The hooks 51 of the four retaining edges 5 can hook the movable plate 3 from the four sides of the movable plate 3.

[0066] Furthermore, the lower end surface of the positioning pin 2 of the embodiment of the present invention is provided with a chamfer 21. The provision of the chamfer 21 makes the positioning pin 2 smoother during positioning and docking.

[0067] The adaptive alignment mechanism 100 proposed in an embodiment of the present invention is configured by providing a movable plate 3 and a fixed plate 4, a rib 5 being fixed on the periphery of the fixed plate 4, a hook 51 being provided at the bottom of the rib 5, the movable plate 3 being located between the lower end surface of the fixed plate 4 and the upper end surface of the hook 51, and a ball 6 being provided on the movable plate 3 for contacting the lower end surface of the fixed plate 4, a horizontal plane movement gap 7 being formed between the inner side wall of the rib 5 and the outer side wall of the movable plate 3, so that during the positioning process, the movable plate 3 can move up and down relative to the fixed plate 4, and at the same time, when the fixed plate 4 abuts against the ball 6 on the movable plate 3, because the ball 6 can roll in the ball groove 31, and there is a horizontal plane movement gap 7 between the movable plate 3 and the rib 5, when the positioning pin 2 is subjected to external force during the positioning process, the base body 1 and the movable plate 3 connected thereto can adaptively move and rotate in the X and Y directions of the horizontal plane, thereby completing the adaptive positioning. The adaptive alignment mechanism 100 of the present invention realizes adaptive positioning by using only the movable plate 3, the fixed plate 4, and the ball bearing 6, which greatly simplifies the structure and reduces the space occupied by the entire mechanism 100.

[0068] The above description is merely an example to clearly illustrate the present invention and does not limit the patent scope of the present invention. It is impossible to list all implementation methods here. All equivalent structural transformations made by utilizing the contents of the technical solution of the present invention under the concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An adaptive alignment mechanism, comprising a base, a positioning pin mounted on the base and exposed from the bottom surface of the base, characterized in that: It also includes a movable plate, a fixed plate, a plurality of ribs and a plurality of balls; The movable plate is mounted on the upper end of the seat body, and a plurality of ball grooves are formed on the upper end surface of the movable plate. A ball is placed in each ball groove, and the top surface of the ball is higher than the upper end surface of the movable plate. A ball movable gap is formed between the outer side wall of the ball and the side wall of the ball groove. The plurality of ribs are fixedly installed on the periphery of the fixed plate, and each of the ribs is provided with a hook protruding inward from the lower side of the fixed plate. The movable plate is received between the fixed plate and the hook and can move up and down between the fixed plate and the hook, and a horizontal movement gap is formed between the inner side wall of the rib and the outer side wall of the movable plate.

2. The adaptive alignment mechanism according to claim 1, characterized in that: When the movable plate moves upward to the highest position, the top of the ball contacts the lower end surface of the fixed plate and can roll relative to the fixed plate. When the ball rolls relative to the fixed plate, the movable plate moves relative to the fixed plate in the XY directions in the horizontal plane and rotates in the horizontal plane. When the movable plate moves downward to the lowest position, the lower end surface of the movable plate abuts against the upper end surface of the hook portion.

3. The adaptive alignment mechanism according to claim 2, characterized in that: When the movable plate is at the highest position, a first vertical gap is formed between the lower end surface of the fixed plate and the upper end surface of the movable plate, and a second vertical gap is formed between the upper end surface of the hook and the lower end surface of the movable plate.

4. The adaptive alignment mechanism according to claim 3, characterized in that: The first vertical gap is 0.6-0.7 mm, and the second vertical gap is 0.1-0.3 mm.

5. The adaptive alignment mechanism according to claim 1, characterized in that: The horizontal plane movement gap is larger than the ball movement gap.

6. The adaptive alignment mechanism according to claim 1, characterized in that: The ball movement clearance is 0.2 to 0.3 mm.

7. The adaptive alignment mechanism according to claim 1, characterized in that: There are four ball grooves, and the four ball grooves are distributed on the upper end surface of the movable plate along the four corner positions of a quadrilateral. Correspondingly, there are four balls distributed in the four ball grooves respectively.

8. The adaptive alignment mechanism according to claim 1, characterized in that: The ball bearing groove is a cylindrical groove.

9. The adaptive alignment mechanism according to claim 1, characterized in that: Each of the side ribs is provided with two hooks at intervals.

10. The adaptive alignment mechanism according to claim 1, characterized in that: The lower end surface of the positioning pin is provided with a chamfer.

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