Industrial five-degree-of-freedom attitude adjustment vehicle

Abstract

The utility model relates to an industrial five-freedom attitude adjustment vehicle and belongs to the technical field of industrial mobile vehicles, which is composed of a vehicle frame body, a multi-freedom adjustment component and a turnover driving assembly. The vehicle frame body is composed of a vehicle base, a right side support frame and a left side support frame which are vertically installed on the upper part of the vehicle base. The multi-freedom adjustment component is installed between the right side lifting slide table and the left side lifting slide table, and the turnover driving assembly is installed on the outside of the left side lifting slide table. The multi-freedom adjustment component is composed of a bottom frame body, a middle adjustment frame body and a product mounting frame body which are arranged in parallel. A bearing assembly is installed at the left side position between the bottom frame body and the middle adjustment frame body, and a rolling adjustment assembly is installed at the right side position between the bottom frame body and the middle adjustment frame body. The industrial five-freedom attitude adjustment vehicle can simply and quickly realize the five-freedom adjustment functions of the product, including lifting, turnover, rolling, pitching and yawing. The structure is reasonable, the function is reliable, the operation is simple, and the production efficiency in industrial production is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of industrial mobile vehicle technology, specifically relating to an industrial five-degree-of-freedom attitude adjustment vehicle. Background Technology

[0002] With the rapid development of industrial technology, the structure of industrial products is becoming increasingly complex. During the production and assembly process, it is often necessary to adjust the posture of the product to meet the complex and challenging assembly requirements. Currently, in complex assembly, the main method is to manually hoist the product for installation, which is difficult and inefficient. To meet the complex and challenging production requirements of products while reducing production costs, there is an urgent need for a multi-degree-of-freedom posture adjustment vehicle that is simple in structure, reliable in function, and easy and quick to operate. Summary of the Invention

[0003] The purpose of this invention is to provide an industrial five-degree-of-freedom (i.e., lifting, tilting, rolling, pitching, and yaw) attitude adjustment vehicle, which can easily and quickly realize the five-degree-of-freedom adjustment function of products. It has a reasonable structure, reliable function, and simple operation, which greatly improves the production efficiency in industrial production.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] An industrial five-degree-of-freedom attitude adjustment vehicle comprises a frame, multi-degree-of-freedom adjustment components, and a tilting drive assembly. The frame consists of a base, a right-side support frame vertically mounted on the upper part of the base, and a left-side support frame. Four sets of casters are installed on the lower part of the base. Two right-side moving circular guide rails are installed opposite each other inside the right-side support frame, and a right-side lifting slide is installed between the two right-side moving circular guide rails. The right-side lifting slide is connected to the right-side support frame via a right-side precision hydraulic cylinder, which drives the right-side lifting slide to rise and fall within the right-side support frame. Two left-side moving circular guide rails are installed opposite each other inside the left-side support frame. The system includes a moving circular guide rail, with a left-side lifting slide installed between the two left-side moving circular guide rails. The left-side lifting slide and the left-side support frame are connected by a left-side precision hydraulic cylinder, which drives the left-side lifting slide to rise and fall within the left-side support frame. A multi-degree-of-freedom adjustment component is installed between the right-side and left-side lifting slides, allowing the multi-degree-of-freedom adjustment component to rise and fall between the right-side and left-side support frames. A tilting drive assembly is installed on the outside of the left-side lifting slide, which drives the multi-degree-of-freedom adjustment component to rotate between the right-side and left-side support frames.

[0006] The multi-degree-of-freedom adjustment component consists of a bottom frame, a middle adjustment frame, and a product mounting frame arranged in parallel. A bearing assembly is installed on the left side between the bottom frame and the middle adjustment frame, and a rolling adjustment assembly is installed on the right side between the bottom frame and the middle adjustment frame. The rolling adjustment assembly drives the middle adjustment frame to rotate relative to the bottom frame around the bearing assembly. A ball bearing assembly is installed in the middle between the middle adjustment frame and the product mounting frame, and four sets of adjustment handwheel screw assemblies are installed at the four corners between the middle adjustment frame and the product mounting frame. The posture of the product mounting frame relative to the middle adjustment frame is adjusted by adjusting the handwheel screw assemblies.

[0007] The tilt drive assembly consists of a tilt shaft, a tilt seat, a locking clamp, a locking handle, and a tilt handle. The tilt shaft is installed inside the tilt seat and can rotate. A locking clamp is installed at the other end of the tilt seat, and a locking handle is installed on the locking clamp. Rotating the locking handle will fix the tilt shaft and the tilt seat together through the locking clamp, preventing them from rotating relative to each other. One end of the tilt shaft is fixedly connected to the bottom frame, and the tilt seat is fixedly connected to the left lifting slide. The other end of the tilt shaft is installed with a tilt handle, which drives the tilt shaft to rotate inside the tilt seat.

[0008] The base is a flat frame structure welded from steel pipes, while the right and left support frames are both rectangular frame structures welded from steel pipes.

[0009] The bearing assembly consists of a first rotating shaft, a first bearing cover, a first angular contact ball bearing, a first bearing housing, an inner bearing spacer, an outer bearing spacer, a second angular contact ball bearing, a shaft end spacer, and a first locking nut. The first rotating shaft is sequentially equipped with the first angular contact ball bearing, the inner bearing spacer, the outer bearing spacer, the second angular contact ball bearing, the shaft end spacer, and the first locking nut. The first rotating shaft is installed in the first bearing housing and can rotate within the first bearing housing. The first bearing cover is installed on the upper part of the first bearing housing. The first rotating shaft is fixedly connected to the middle adjusting frame, and the first bearing housing is fixedly connected to the bottom frame.

[0010] The ball bearing assembly consists of a second rotating shaft, a second bearing cap, a second bearing housing, and a ball joint bearing. The second rotating shaft is installed inside the ball joint bearing, and a second locking nut is installed at the end of the second rotating shaft. The ball joint bearing is installed inside the second bearing housing, and a second bearing cap is installed on the upper part of the second bearing housing. The second rotating shaft is fixedly connected to the product mounting frame, and the second bearing housing is fixedly connected to the middle adjustment frame.

[0011] The roll adjustment assembly consists of a top rotating shaft, a top rotating seat, a top moving slide, a guide rail slider, a base, a bottom rotating shaft, and a base rotating seat. The top rotating shaft is installed inside the top rotating seat and can rotate within it. The top rotating shaft is fixedly connected to the top moving slide, which is connected to the base via the guide rail slider. A guide rail lock is installed on the guide rail slider to fix the relative position between the top moving slide and the base. A lead screw and a handwheel are installed between the top moving slide and the base, driving the top moving slide to move linearly along the guide rail slider on the base. A bottom rotating shaft is installed on the underside of the base, inside the base rotating seat, and can rotate relative to it. The top rotating seat is fixedly connected to the middle adjustment frame, and the base rotating seat is fixedly connected to the bottom frame.

[0012] The bottom frame and product mounting frame are flat plate-shaped frame structures welded from steel pipes, while the middle adjustment frame is a rectangular frame structure welded from steel pipes.

[0013] The advantages and positive effects of this invention are as follows:

[0014] 1. This invention can complete the five-degree-of-freedom attitude adjustment function of the product, which can greatly improve the production efficiency in industrial production.

[0015] 2. All actions of this invention use mature and reliable actuators. The actuators are stable and reliable, and can perform the posture adjustment function very well.

[0016] 3. The present invention is equipped with movable casters at the bottom, which can be flexibly moved to a specific work station, and the overall structure is compact, meeting the installation and use requirements of multiple work stations. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the industrial five-degree-of-freedom attitude adjustment vehicle described in this invention;

[0018] Figure 2 for Figure 1 Schematic diagram of the multi-degree-of-freedom adjustment component structure;

[0019] Figure 3 for Figure 1 A schematic diagram of the flip-drive component structure in the diagram;

[0020] Figure 4 for Figure 2 A schematic diagram of the bearing assembly structure in the diagram;

[0021] Figure 5 for Figure 2 A schematic diagram of the ball bearing assembly structure in the diagram;

[0022] Figure 6 for Figure 2 A schematic diagram of the roll adjustment component structure.

[0023] Among them, 1 is the frame body, 101 is the caster wheel, 102 is the base, 103 is the right support frame, 104 is the right precision hydraulic cylinder, 105 is the right moving circular guide rail, 106 is the right lifting slide, 107 is the left lifting slide, 108 is the left support frame, 109 is the left precision hydraulic cylinder, and 1010 is the left moving circular guide rail; 2 is a multi-degree-of-freedom adjustment component, 201 is the bottom frame, 202 is the middle adjustment frame, 203 is the product mounting frame, and 204 is the adjustment handwheel screw assembly; 3 is a tilting drive assembly, 301 is the tilting shaft, 302 is the tilting seat, 303 is the locking clamp, 304 is the locking handle, and 305 is the tilting handle; 4 is a bearing assembly, 401 is the first rotating shaft, 402 is the first rotating shaft, 402 is the first rotating shaft, 402 is the second rotating shaft, 402 is the third rotating shaft, 402 is the fourth rotating shaft, 402 is the fifth rotating shaft, 402 is the sixth rotating shaft, 402 is the seventh rotating shaft, 402 is the eighth rotating shaft, 402 is the ninth rotating shaft, 402 is the throttling ... 403 is the first bearing cap, 404 is the first angular contact ball bearing, 405 is the first bearing housing, 406 is the bearing inner spacer, 407 is the bearing outer spacer, 408 is the second angular contact ball bearing, 409 is the shaft end spacer, and 409 is the first locking nut; 5 is the ball bearing assembly, 501 is the second rotating shaft, 502 is the second bearing cap, 503 is the second bearing housing, 504 is the ball joint bearing, and 505 is the second locking nut; 6 is the rolling adjustment assembly, 601 is the top rotating shaft, 602 is the top rotating seat, 603 is the top moving slide, 604 is the guide rail slider, 605 is the base, 606 is the guide rail lock, 607 is the bottom rotating shaft, 608 is the base rotating seat, 609 is the lead screw, and 6010 is the handwheel. Detailed Implementation

[0024] The invention will now be described in further detail with reference to the accompanying drawings.

[0025] like Figure 1-6As shown, the present invention comprises a frame body 1, a multi-degree-of-freedom adjustment component 2, and a tilting drive assembly 3. The frame body 1 consists of a base 102, a right support frame 103 vertically mounted on the upper part of the base 102, and a left support frame 108. The base 102 is a flat frame structure welded from steel pipes. The right support frame 103 and the left support frame 108 are both rectangular frame structures welded from steel pipes. Four sets of casters 101 are installed at the lower part of the base 102. Two right-side moving circular guide rails 105 are installed on opposite sides inside the right support frame 103. A right-side lifting slide 106 is installed between the two right-side moving circular guide rails 105. The right-side lifting slide 106 is connected to the right support frame 103 via a right-side precision hydraulic cylinder 104. The right-side precision hydraulic cylinder 104 drives the right-side lifting slide 106 to rise and fall within the right support frame 103. Two left-side movable circular guide rails 1010 are installed on opposite sides inside the left-side support frame 108. A left-side lifting slide 107 is installed between the two left-side movable circular guide rails 1010. The left-side lifting slide 107 and the left-side support frame 108 are connected by a left-side precision hydraulic cylinder 109. The left-side precision hydraulic cylinder 109 drives the left-side lifting slide 107 to rise and fall within the left-side support frame 108. A multi-degree-of-freedom adjustment component 2 is installed between the right-side lifting slide 106 and the left-side lifting slide 107. The right-side lifting slide 106 and the left-side lifting slide 107 enable the multi-degree-of-freedom adjustment component 2 to rise and fall between the right-side support frame 103 and the left-side support frame 108. A tilting drive assembly 3 is installed on the outside of the left-side lifting slide 107. The tilting drive assembly 3 drives the multi-degree-of-freedom adjustment component 2 to rotate between the right-side support frame 103 and the left-side support frame 108.

[0026] like Figure 2 As shown, the multi-degree-of-freedom adjustment component 2 consists of a bottom frame 201, a middle adjustment frame 202, and a product mounting frame 203 arranged in parallel. The bottom frame 201 and the product mounting frame 203 are flat plate frame structures welded from steel pipes, while the middle adjustment frame 202 is a rectangular frame structure welded from steel pipes. A bearing assembly 4 is installed on the left side between the bottom frame 201 and the middle adjustment frame 202, and a rolling bearing assembly is installed on the right side between the bottom frame 201 and the middle adjustment frame 202. Adjustment component 6 can drive the middle adjustment frame 202 to rotate around the bearing assembly 4 relative to the bottom frame 201 by rolling adjustment component 6; ball bearing assembly 5 is installed at the middle position between the middle adjustment frame 202 and the product mounting frame 203, and four sets of adjustment handwheel screw assemblies 204 are installed at the four corner positions between the middle adjustment frame 202 and the product mounting frame 203, and the posture of the product mounting frame 203 relative to the middle adjustment frame 202 can be adjusted by adjusting handwheel screw assemblies 204.

[0027] like Figure 3As shown, the flip drive assembly 3 consists of a flip shaft 301, a flip seat 302, a locking clamp 303, a locking handle 304, and a flip handle 305. The flip shaft 301 is installed inside the flip seat 302 and can rotate. The other end of the flip seat 302 is equipped with a locking clamp 303, and a locking handle 304 is installed on the locking clamp 303. Rotating the locking handle 304 will fix the flip shaft 301 and the flip seat 302 together through the locking clamp 303, preventing them from rotating relative to each other. One end of the flip shaft 301 is fixedly connected to the bottom frame 201, and the flip seat 302 is fixedly connected to the left lifting slide 107. The other end of the flip shaft 301 is equipped with a flip handle 305, which drives the flip shaft 301 to rotate inside the flip seat 302.

[0028] like Figure 4 As shown, the bearing assembly 4 consists of a first rotating shaft 401, a first bearing cover 402, a first angular contact ball bearing 403, a first bearing housing 404, an inner bearing spacer 405, an outer bearing spacer 406, a second angular contact ball bearing 407, a shaft end spacer 408, and a first locking nut 409. The first rotating shaft 401 is sequentially equipped with the first angular contact ball bearing 403, the inner bearing spacer 405, the outer bearing spacer 406, the second angular contact ball bearing 407, the shaft end spacer 408, and the first locking nut 409. The first rotating shaft 401 is installed inside the first bearing housing 404 and can rotate within the first bearing housing 404. The first bearing cover 402 is installed on the upper part of the first bearing housing 404. The first rotating shaft 401 is fixedly connected to the middle adjusting frame 202, and the first bearing housing 404 is fixedly connected to the bottom frame 201.

[0029] like Figure 5 As shown, the ball bearing assembly 5 consists of a second rotating shaft 501, a second bearing cap 502, a second bearing housing 503, and a ball joint bearing 504. The second rotating shaft 501 is installed inside the ball joint bearing 504, and a second locking nut 505 is installed at the end of the second rotating shaft 501. The ball joint bearing 504 is installed inside the second bearing housing 503, and the second bearing cap 502 is installed on the upper part of the second bearing housing 503. The second rotating shaft 501 is fixedly connected to the product mounting frame 203, and the second bearing housing 503 is fixedly connected to the middle adjustment frame 202, enabling the product mounting frame 203 to rotate around the ball bearing assembly 5 relative to the middle adjustment frame 202.

[0030] like Figure 6As shown, the roll adjustment assembly 6 consists of a top rotating shaft 601, a top rotating base 602, a top moving slide 603, a guide rail slider 604, a base 605, a bottom rotating shaft 607, and a base rotating base 608. The top rotating shaft 601 is installed inside the top rotating base 602 and can rotate within the top rotating base 602. The top rotating shaft 601 is fixedly connected to the top moving slide 603, and the top moving slide 603 is connected to the base 605 via the guide rail slider 604. A guide rail lock 606 is installed on the guide rail slider 604 to fix the relative position between the top moving slide 603 and the base 605. A lead screw 609 and a handwheel 6010 are installed between the slide 603 and the base 605. The lead screw 609 and the handwheel 6010 can drive the top moving slide 603 to move linearly along the guide rail slider 604 on the base 605. A bottom rotating shaft 607 is installed on the lower side of the base 605. The bottom rotating shaft 607 is installed inside the base rotating seat 608 and can rotate relative to it. The top rotating seat 602 is fixedly connected to the middle adjusting frame 202, and the base rotating seat 608 is fixedly connected to the bottom frame 201. Thus, the lead screw 609 and the handwheel 6010 can drive the middle adjusting frame 202 to rotate relative to the bottom frame 201 around the bearing assembly 4.

[0031] The working process of this invention is as follows: This invention is used to adjust the posture of a product, and can adjust five degrees of freedom: lifting, tilting, rolling, pitching, and yaw. When the lifting degree of freedom needs to be adjusted, the multi-degree-of-freedom adjustment component 2 is synchronously driven to a specified height by the right precision hydraulic cylinder 104 and the left precision hydraulic cylinder 109 through the right lifting slide 106 and the left lifting slide 107, realizing the adjustment of the height direction; the tilting drive component 3 can adjust the tilting angle of the multi-degree-of-freedom adjustment component 2, realizing the tilting around the horizontal axis; the central adjustment frame 202 and the product mounting frame 203 are connected at the geometric center by a ball bearing assembly 5, and at the four corners by adjustment handwheel screw assemblies 204, through four sets of adjustment handwheel screw assemblies 204. The distance between the four corners of the middle adjustment frame 202 and the product mounting frame 203 is adjusted to achieve the adjustment of the pitch and yaw degrees of freedom between the product mounting frame 203 and the middle adjustment frame 202. The bottom frame 201 and the middle adjustment frame 202 are connected on one side by a bearing assembly 4 and on the other side by a roll adjustment assembly 6. By rotating the handwheel 6010, the top moving slide 603 is driven to move on the guide rail slider 604 on the base 605, thereby driving the middle adjustment frame 202 to rotate around the axis of the bearing assembly 4, achieving the adjustment of the roll degree of freedom in the direction of the bearing assembly 4 axis. Thus, the five degrees of freedom of the product mounting frame 203 can be adjusted through the above mechanism.

Claims

1. An industrial five-degree-of-freedom attitude adjustment vehicle, characterized in that: It consists of a frame body (1), a multi-degree-of-freedom adjustment component (2), and a tilting drive assembly (3). The frame body (1) consists of a base (102), a right support frame (103) vertically mounted on the upper part of the base (102), and a left support frame (108). Four sets of casters (101) are installed on the lower part of the base (102). Two right-side moving circular guide rails (105) are installed on opposite sides inside the right support frame (103). A right-side lifting slide (106) is installed between the two right-side moving circular guide rails (105). The right-side lifting slide (106) is connected to the right-side support frame (103) through a right-side precision hydraulic cylinder (104). The cylinder (104) drives the right lifting slide (106) to rise and fall within the right support frame (103); two left-side moving circular guide rails (1010) are installed on opposite sides inside the left support frame (108), and a left-side lifting slide (107) is installed between the two left-side moving circular guide rails (1010). The left-side lifting slide (107) and the left support frame (108) are connected by a left-side precision hydraulic cylinder (109), and the left-side lifting slide (107) is driven to rise and fall within the left support frame (108) by the left-side precision hydraulic cylinder (109); a multi-degree-of-freedom adjustment component (2) is installed between the right-side lifting slide (106) and the left-side lifting slide (107), and the right-side lifting slide is driven to rise and fall within the left support frame (108) by the left-side precision hydraulic cylinder (109); a multi-degree-of-freedom adjustment component (2) is installed between the right-side lifting slide (106) and the left-side lifting slide (107), and the right-side lifting slide is driven to rise and fall within the left support frame (108) by the left-side precision hydraulic cylinder (109). The platform (106) and the left lifting slide (107) enable the multi-degree-of-freedom adjustment component (2) to move up and down between the right support frame (103) and the left support frame (108); a tilting drive assembly (3) is installed on the outside of the left lifting slide (107), which drives the multi-degree-of-freedom adjustment component (2) to rotate between the right support frame (103) and the left support frame (108); the multi-degree-of-freedom adjustment component (2) consists of a bottom frame (201), a middle adjustment frame (202) and a product mounting frame (203) arranged in parallel; a bearing assembly (4) is installed on the left side between the bottom frame (201) and the middle adjustment frame (202). A rolling adjustment assembly (6) is installed on the right side between the bottom frame (201) and the middle adjustment frame (202). The rolling adjustment assembly (6) drives the middle adjustment frame (202) to rotate around the bearing assembly (4) relative to the bottom frame (201). A ball bearing assembly (5) is installed in the middle between the middle adjustment frame (202) and the product mounting frame (203). Four sets of adjustment handwheel screw assemblies (204) are installed at the four corners between the middle adjustment frame (202) and the product mounting frame (203). The posture of the product mounting frame (203) relative to the middle adjustment frame (202) is adjusted by adjusting the handwheel screw assemblies (204).The roll adjustment assembly (6) consists of a top rotating shaft (601), a top rotating seat (602), a top moving slide (603), a guide rail slider (604), a base (605), a bottom rotating shaft (607), and a base rotating seat (608). The top rotating shaft (601) is installed inside the top rotating seat (602) and can rotate inside the top rotating seat (602). The top rotating shaft (601) is fixedly connected to the top moving slide (603). The top moving slide (603) is connected to the base (605) via a guide rail slider (604). A guide rail lock (606) is installed on the guide rail slider (604) to fix the relative position between the top moving slide (603) and the base (605). A lead screw (609) and a handwheel (6010) are installed between the top moving slide (603) and the base (605). (609) and handwheel (6010) drive the top moving slide (603) to move linearly along the guide rail slider (604) on the base (605). The bottom rotating shaft (607) is installed on the lower side of the base (605). The bottom rotating shaft (607) is installed inside the base rotating seat (608) and can rotate relative to it. The top rotating seat (602) is fixedly connected to the middle adjusting frame (202), and the base rotating seat (608) is fixedly connected to the bottom frame (201).

2. The industrial five-degree-of-freedom attitude adjustment vehicle as described in claim 1, characterized in that: The base (102) is a flat frame structure welded from steel pipes, and the right support frame (103) and the left support frame (108) are both rectangular frame structures welded from steel pipes.

3. The industrial five-degree-of-freedom attitude adjustment vehicle as described in claim 1, characterized in that: The flip drive assembly (3) consists of a flip shaft (301), a flip seat (302), a locking clamp (303), a locking handle (304), and a flip handle (305). The flip shaft (301) is installed inside the flip seat (302) and can rotate. The other end of the flip seat (302) is equipped with a locking clamp (303), and a locking handle (304) is installed on the locking clamp (303). Rotating the locking handle (304) will fix the flip shaft (301) and the flip seat (302) together through the locking clamp (303) to prevent them from rotating relative to each other. One end of the flip shaft (301) is fixedly connected to the bottom frame (201), and the flip seat (302) is fixedly connected to the left lifting slide (107). The other end of the flip shaft (301) is equipped with a flip handle (305). The flip shaft (301) is driven to rotate inside the flip seat (302) through the flip handle (305).

4. The industrial five-degree-of-freedom attitude adjustment vehicle as described in claim 1, characterized in that: The bearing assembly (4) consists of a first rotating shaft (401), a first bearing cap (402), a first angular contact ball bearing (403), a first bearing housing (404), an inner bearing spacer (405), an outer bearing spacer (406), a second angular contact ball bearing (407), a shaft end spacer (408), and a first locking nut (409). The first rotating shaft (401) is sequentially equipped with the first angular contact ball bearing (403), the inner bearing spacer (405), and the outer bearing spacer (406). 406), second angular contact ball bearing (407), shaft end spacer (408) and first locking nut (409), first rotating shaft (401) is installed in first bearing seat (404) and can rotate in first bearing seat (404), first bearing cover (402) is installed on the upper part of first bearing seat (404); first rotating shaft (401) is fixedly connected to middle adjustment frame (202), and first bearing seat (404) is fixedly connected to bottom frame (201).

5. The industrial five-degree-of-freedom attitude adjustment vehicle as described in claim 1, characterized in that: The ball bearing assembly (5) consists of a second rotating shaft (501), a second bearing cap (502), a second bearing housing (503), and a ball joint bearing (504). The second rotating shaft (501) is installed inside the ball joint bearing (504), and a second locking nut (505) is installed at the end of the second rotating shaft (501). The ball joint bearing (504) is installed inside the second bearing housing (503), and a second bearing cap (502) is installed on the upper part of the second bearing housing (503). The second rotating shaft (501) is fixedly connected to the product mounting frame (203), and the second bearing housing (503) is fixedly connected to the middle adjustment frame (202).

6. The industrial five-degree-of-freedom attitude adjustment vehicle as described in claim 1, characterized in that: The bottom frame (201) and the product installation frame (203) are flat frame structures welded from steel pipes, while the middle adjustment frame (202) is a rectangular frame structure welded from steel pipes.

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