Five-degree-of-freedom attitude adjustment and positioning device for plug-in flange components

Abstract

The five-degree-of-freedom attitude adjustment and positioning device suitable for inserting flange components solves the problem of poor flexibility when inserting flange components, which leads to a cumbersome and inefficient installation process, and belongs to the field of high-precision installation technology of flange parts. The lower frame of the present invention is fixed on the assembly interface, and the adjustment support is installed between the middle frame and the lower frame. The adjustment support is used to adjust the rotation of the middle frame around two axes. The lower part of the adjustment frame is located between the middle frame and the upper frame. Sliders are provided on the upper surface of the middle frame and the lower surface of the upper frame. The left and right adjusters are used to move the middle frame left and right in the guide rail provided on the lower surface of the adjustment frame. The front and rear adjusters are used to move the upper frame forward and backward in the guide rail provided on the upper surface of the adjustment frame to achieve five degrees of freedom. The end cover of the inserting flange component to be installed passes through the lower frame, the middle frame, and the adjustment frame and is fixed to the bottom of the upper frame. The present invention has the advantages of high rigidity, excellent mechanical properties, good position retention stability, and high assembly accuracy.

Description

Technical Field

[0001] The invention relates to a five-degree-of-freedom attitude adjustment and positioning device suitable for an insert-type flange component, belonging to the technical field of high-precision installation of flange parts. Background Art

[0002] Flange assemblies for large precision vacuum and pressure vessels must not only maintain strict coaxiality and tolerance with the mounting holes, but also maintain strict positional accuracy relative to the vessel's global coordinate system. Traditional mounting equipment often suffers from low precision, insufficient rigidity, and poor position retention between the flange and the main component during welding, making it difficult to meet flange installation requirements. Furthermore, existing equipment often utilizes fixed structures with limited flexibility, resulting in a cumbersome and inefficient installation process. Summary of the Invention

[0003] Aiming at the problem that the flexibility of inserting flange components is poor, which leads to cumbersome and inefficient installation process, the present invention provides a five-degree-of-freedom posture adjustment and positioning device suitable for inserting flange components.

[0004] The present invention provides a five-degree-of-freedom attitude adjustment and positioning device suitable for an insert-type flange assembly, comprising a lower frame, an intermediate frame, an adjustment frame, an upper frame, left and right adjusters, front and rear adjusters, and at least three adjustment supports;

[0005] The lower frame is fixed on the assembly interface, and the lower ends of all adjustment supports are distributed and installed on the lower frame;

[0006] The middle frame is installed on the upper end of all adjustment supports;

[0007] The adjustment support is used to adjust the rotation of the middle frame around two axes;

[0008] Sliders are fixed to the upper surface of the middle frame and the lower surface of the upper frame. Guide rails are respectively provided on the upper and lower surfaces of the adjustment frame. The slide on the upper surface of the middle frame is placed in the guide rail provided on the lower surface of the adjustment frame, and the slide on the lower surface of the upper frame is placed in the guide rail provided on the upper surface of the adjustment frame. The left and right adjusters are used to move the middle frame left and right in the guide rail provided on the lower surface of the adjustment frame, and the front and rear adjusters are used to move the upper frame forward and backward in the guide rail provided on the upper surface of the adjustment frame.

[0009] The lower frame, the middle frame, the adjustment frame and the upper frame are all hollow structures. The end cover of the plug-in flange assembly to be installed passes through the lower frame, the middle frame and the adjustment frame and is fixed to the bottom of the upper frame.

[0010] As a preferred embodiment, it includes three adjustment supports, namely a left adjustment support, a middle adjustment support, and a right adjustment support;

[0011] The lower ends of the left adjustment support, the middle adjustment support and the right adjustment support are installed on the lower frame body. The left adjustment support and the right adjustment support are located at the two ends of one side of the lower frame body, and the middle adjustment support is located in the middle position of the other side of the lower frame body.

[0012] The lower end of the left adjustment support is a rotary pair, and the upper end is a ball pair;

[0013] The lower end of the right adjustment support is a fixed constraint, and the upper end is a ball joint;

[0014] The upper and lower ends of the middle adjustment support are both ball pairs.

[0015] Preferably, the adjustment support also includes a base, a screw drive mechanism assembly and a sliding body assembly; the sliding body assembly is arranged in the base, and the screw drive mechanism assembly drives the sliding body assembly to perform linear motion in the vertical direction on the track of the base, the bottom end of the base is the lower end of the corresponding support, and the top end of the sliding body assembly is the upper end of the corresponding adjustment support.

[0016] Preferably, the screw drive mechanism assembly includes a screw, a fastener, a disc spring and a brake assembly. The fastener, disc spring and brake assembly are sequentially mounted on the screw. When the screw stops rotating, the disc spring extends and presses the brake assembly, and the brake assembly generates friction to cause the screw to self-lock.

[0017] Preferably, the brake assembly includes a flange cover, an asbestos gasket and a compression plate. The asbestos gasket is arranged between the flange cover and the compression plate. The disc spring is connected to the flange cover. When the screw stops rotating, the disc spring extends and compresses the flange cover, thereby causing the asbestos gasket to generate friction to cause the screw to self-lock.

[0018] Preferably, the lower frame comprises three square tubes, three welded plates and a plurality of welded feet;

[0019] One end of square tube No. 1 is vertically fixedly connected to one end of square tube No. 2, and a supporting rib is provided between square tube No. 1 and square tube No. 2. The other end of square tube No. 2 is vertically fixedly connected to one end of square tube No. 3, and a supporting rib is provided between square tube No. 2 and square tube No. 3. Two welding plates are provided at both ends of the upper surface of square tube No. 1, respectively for installing the left adjustment support and the right adjustment support. A welding plate is provided in the middle position of the upper surface of square tube No. 2 for installing the middle adjustment support.

[0020] A plurality of welding feet are distributed and fixed on the bottom of the three square tubes for welding and fixing them on the assembly interface.

[0021] Preferably, the adjustment frame includes an adjustment frame body and two pairs of guide rails;

[0022] The adjustment frame is a hollow structure, a pair of guide rails are arranged on the upper surface of the adjustment frame, and the other pair of guide rails are arranged on the lower surface of the adjustment frame.

[0023] Preferably, the middle frame includes an middle frame body and two pairs of sliders; the middle frame body is a hollow structure, the two pairs of sliders are fixed on the upper surface of the middle frame body, and the position of a pair of sliders corresponds to a slide rail on the upper surface of the adjustment frame body.

[0024] Preferably, the left and right adjusters include a ball nut, a ball screw, and a connecting plate;

[0025] The middle frame is connected to the ball screw through the screw nut, and the ball screw drives the middle frame to move left and right;

[0026] The ball screw and the connecting plate are connected through bearings, and the connecting plate is fixed on the adjustment frame.

[0027] Preferably, the front and rear adjusters include a ball nut, a ball screw and a connecting plate;

[0028] The upper frame is connected to the ball screw through the screw nut, and the ball screw drives the upper frame to move forward and backward;

[0029] The ball screw and the connecting plate are connected through a bearing, and the connecting plate is fixed on the adjustment frame.

[0030] The beneficial effects of the present invention are as follows: the lower frame, adjustment support and middle frame of the present invention together constitute a three-chain three-drive parallel mechanism. The present invention can rotate forward and backward, left and right, and around two axes to achieve high-precision posture adjustment of the flange, effectively offset the thermal deformation and welding force generated during the welding process, ensure that the relative position relationship between the flange and the pressure vessel is not disturbed, reduce the possible offset and rotation of the flange during the welding process, and ensure the final installation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of flange installation of the present invention;

[0032] Figure 2 This is a general assembly structure diagram of the posture adjustment and positioning device of the present invention;

[0033] Figure 3 yes Figure 2 Left view of;

[0034] Figure 4 yes Figure 2 A top view of

[0035] Figure 5 yes Figure 2 An enlarged view of the circled portion;

[0036] Figure 6 This is a structural diagram of the lower frame of the posture adjustment and positioning device of the present invention;

[0037] Figure 7This is a structural diagram of the middle frame of the posture adjustment and positioning device of the present invention;

[0038] Figure 8 This is a structural diagram of the adjustment frame of the posture adjustment and positioning device of the present invention;

[0039] Figure 9 yes Figure 8 Left view of;

[0040] Figure 10 This is a structural diagram of the left adjustment support of the five-degree-of-freedom precision attitude adjustment and positioning device applicable to the plug-in flange assembly of the present invention;

[0041] Figure 11 This is the structural diagram of the base in the left adjustment support;

[0042] Figure 12 It is a structural diagram of the sliding body assembly in the left adjustment support;

[0043] Figure 13 This is a structural diagram of the screw drive mechanism assembly in the left adjustment support;

[0044] Figure 14 yes Figure 13 BB cross-sectional view;

[0045] Figure 15 It is a structural diagram of the brake assembly components;

[0046] Figure 16 This is a structural diagram of the intermediate adjustment support of the posture adjustment and positioning device of the present invention;

[0047] Figure 17 This is a structural diagram of the right adjustment support of the posture adjustment and positioning device of the present invention;

[0048] Figure 18 2. It is a structural diagram of the left and right adjusters of the posture adjustment and positioning device of the present invention;

[0049] Figure 19 yes Figure 18 A-direction sectional view;

[0050] Figure 20 1 is a structural diagram of the front and rear adjusters of the posture adjustment and positioning device of the present invention;

[0051] Figure 21 for Figure 20 AA section view

[0052] Figure 22 for Figure 20 BB cross-sectional view. DETAILED DESCRIPTION

[0053] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0055] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0056] like Figure 1-Figure 22 The present embodiment is described. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly of the present embodiment includes a lower frame 1, an intermediate frame 2, an adjustment frame 3, an upper frame 4, a left adjustment support 5, an intermediate adjustment support 6, a right adjustment support 7, a front and rear adjuster 8, and a left and right adjuster 9. Figures 1 to 4 As shown;

[0057] The lower frame 1 is fixed on the assembly interface of the workpiece, and the lower ends of all adjustment supports are distributed and installed on the lower frame 1;

[0058] The middle frame 2 is installed on the upper end of all the adjustment supports; the adjustment supports are used to adjust the rotation of the middle frame 2 around two axes;

[0059] Sliders are fixed to the upper surface of the middle frame 2 and the lower surface of the upper frame 4. Guide rails are respectively provided on the upper and lower surfaces of the adjustment frame 3. The slide on the upper surface of the middle frame 2 is placed in the guide rail provided on the lower surface of the adjustment frame 3, and the slide on the lower surface of the upper frame 4 is placed in the guide rail provided on the upper surface of the adjustment frame. The left and right adjusters 8 are used to make the middle frame 2 assembled in the guide rail provided on the lower surface of the adjustment frame 3 move left and right, and the front and rear adjusters 9 are used to make the upper frame 4 move forward and backward in the guide rail provided on the upper surface of the adjustment frame 3.

[0060] This embodiment includes three adjustment supports, namely a left adjustment support 5, a middle adjustment support 6, and a right adjustment support 7;

[0061] The lower ends of the left adjustment support 5, the middle adjustment support 6, and the right adjustment support 7 are installed on the lower frame 1. The left adjustment support 5 and the right adjustment support 7 are located at both ends of one side of the lower frame 1, and the middle adjustment support 6 is located in the middle position of the other side of the lower frame 1;

[0062] The lower end of the left adjustment support 5 is a rotary pair, and the upper end is a ball pair;

[0063] The lower end of the right adjustment support 7 is a fixed constraint, and the upper end is a ball joint;

[0064] The upper end and the lower end of the middle adjustment support 6 are both ball pairs.

[0065] The lower frame 1 , the middle frame 2 , the adjustment frame 3 and the upper frame 4 are all hollow structures. The end cover of the plug-in flange assembly to be installed passes through the lower frame 1 , the middle frame 2 , the adjustment frame 3 and is fixed to the bottom of the upper frame 4 .

[0066] The structure of the lower frame 1 is as follows Figure 6 As shown, the lower frame 1 is fixed on the assembly interface of the workpiece by welding the welding block. The lower frame 1 includes square tube 1-1, square tube 1-2, square tube 1-3, welding plate 1-4, welding plate 1-5, welding plate 1-7, support rib 1-6, reinforcing rib plate, sealing plate, and welding foot welded together.

[0067] The left adjustment support 5 and the right adjustment support 7 are respectively installed on the welding plates 1-4 and 1-5 of the lower frame, and the middle adjustment support 6 is installed on the welding plate 1-7 by bolts.

[0068] The structure of the middle frame 2 is as follows Figure 7 As shown, the intermediate frame 2-1 includes four sliders 2-2. The upper end of the intermediate frame 2-1 is fixedly connected to the four sliders 2-2. The lower end of the intermediate frame 2-1 is bolted to the ears on all adjustment supports. The side surfaces of the intermediate frame 2-1 are also bolted to the left and right adjusters. The sliders 2-2 of the intermediate frame 2 cooperate with the guide rails of the adjustment frame 3, allowing the adjustment frame to move relative to the intermediate frame along the x-axis.

[0069] Adjust the structure of the framework as Figure 8 and Figure 9 As shown, it includes an adjustment frame 3-1, a guide rail 3-2, and a guide rail 3-3. The adjustment frame 3-1 is a hollow structure. A pair of guide rails 3-2 are arranged in the y-axis direction of the upper surface of the adjustment frame 3-1, and a pair of guide rails 3-3 are arranged in the x-axis direction of the lower surface of the adjustment frame 3-1.

[0070] The guide rail on the lower surface cooperates with the slider of the middle frame so that it can move along the x-axis relative to the middle frame; the guide rail on the upper surface cooperates with the slider of the upper frame so that the upper frame can move along the y-axis relative to the adjustment frame.

[0071] The lower surface of the upper frame is fixedly connected to four guide rail sliders, and the sliders cooperate with the guide rails of the adjustment frame so that the upper frame can be assembled and moved along the x-axis relative to the adjustment frame.

[0072] The left and right adjustment supports are respectively installed on the left and right welding plates of the lower frame by bolts, and the middle adjustment support is installed on the welding plate 1-7 by bolts. Figure 10 As shown, it includes a base 5-2, a screw drive mechanism assembly 5-3 and a sliding body assembly 5-1; the sliding body assembly 5-1 is arranged in the base, and the screw drive mechanism assembly 5-3 drives the sliding body assembly to perform linear motion in the vertical direction on the track of the base 5-2. The bottom end of the base 5-2 is the lower end of the corresponding support, and the top end of the sliding body assembly 5-1 is the upper end of the corresponding adjustment support.

[0073] The structure of base 5-2 is as follows Figure 5 As shown, it includes a lower support 5-2-1, a pin shaft ear seat 5-2-2, and a slider guide rail 5-2-3. The base is fixedly connected to the lower frame body through the bolt hole 5-2-4 on the pin shaft ear seat 5-2-2, cooperates with the guide rail slider on the sliding body through the slider guide rail 5-2-3 on the lower support 5-2-1, and is fixedly connected to the screw drive mechanism assembly through the bolt hole 5-2-5 on the lower support 5-2-1; the lower end of the base is composed of two pin shaft ear seats in parallel, and a pin shaft ear seat is actually a spherical pair. When two are arranged in parallel, it is equivalent to a cylindrical pair.

[0074] The structure of the sliding body component 5-1 is as follows Figure 12 As shown, it includes a screw nut 5-1-1, an ear seat 5-1-2, a pin assembly 5-1-3, a sleeve, a sliding part 5-1-5, and a guide rail slider 5-1-6. The sliding body assembly is fixed to the middle frame through the bolt hole on the ear seat 5-1-2, cooperates with the slider guide 5-2-3 on the lower support 5-2-1 through the guide rail slider 5-1-6 thereon, and cooperates with the screw drive mechanism assembly through the screw nut 5-1-1 thereon; the upper end of the sliding body assembly 5-1 is composed of a pin ear seat.

[0075] The structure of the screw drive mechanism component 5-3 is as follows Figure 13 and Figure 14 As shown, it includes a rolling bearing 5-3-1, a flange 5-3-2, a ball screw 5-3-3, an adjustment baffle 5-3-4, an intermediate spacer 5-3-5, a flange baffle 5-3-6, a brake assembly 5-3-7, a No. 1 round nut 5-3-8, a No. 2 round nut 5-3-9, a retaining washer 5-3-10, a round head common flat key 5-3-11, a disc spring 5-3-12, a No. 1 screw assembly 5-3-13, and a No. 2 screw assembly 5-3-14. The screw drive mechanism assembly is coupled to the nut of the sliding body through the ball screw 5-3-3, and the other end is fixed to the base by bolts.

[0076] The brake assembly 5-3-7 includes a flange cover 5-3-7-1, an asbestos gasket 5-3-7-2, and a pressing plate 5-3-7-3; the asbestos gasket is arranged between the flange cover and the pressing plate 5-3-7-3, and the disc spring 5-3-12 is connected to the flange cover 5-3-7-1. When the ball screw 5-3-3 stops rotating, the disc spring 5-3-12 extends and presses the flange cover 5-3-7-1, thereby causing the asbestos gasket 5-3-7-2 to generate friction and cause the ball screw 5-3-3 to self-lock.

[0077] The upper end of the left adjustment support is a spherical pair, and the lower end is a cylindrical pair. By rotating the ball screw fixed to the base mounting assembly, the sliding body fixed to the nut can slide along the guide rail of the base mounting assembly, and the sliding stroke is 40mm; the ball screw nut can be self-locked by the brake assembly component of the screw drive mechanism assembly. The left adjustment support can be assembled relative to the middle frame to realize rotation around the x and y axes, and can also be rotated around the y axis relative to the lower frame.

[0078] The intermediate adjustment support structure is as follows Figure 16 As shown, this component is secured to the lower frame with bolts and nuts. The middle adjustment support comprises a screw drive assembly, a sliding body assembly, and a base. The screw drive assembly and sliding body of the middle adjustment support are identical to those of the left adjustment support, and the base is similar to that of the left adjustment support. The only difference is that the bottom of the left adjustment support consists of two parallel pin lugs, while the bottom of the middle adjustment support has a single pin lug. The kinematic pair is a spherical pair.

[0079] The upper and lower ends of the intermediate adjustment support are both spherical pairs. By rotating the ball screw fixed to the base, the sliding body fixed to the nut can slide along the guide rail of the base, and the sliding stroke is 40mm; the ball screw nut can be self-locked by the brake assembly of the screw drive mechanism component; the intermediate adjustment support can rotate around the x and y axes relative to the intermediate frame and the lower frame.

[0080] The right adjustment support structure is as follows Figure 17 As shown, this component is secured to the lower frame using bolts and nuts. The right adjustable support comprises a screw drive mechanism assembly, a sliding body assembly, and a base. The screw drive mechanism and sliding body of the right adjustable support are identical to those of the left adjustable support, and the base is similar to that of the left adjustable support. The only difference is that the bottom of the left adjustable support consists of two parallel pin lugs, while the bottom of the right adjustable support is directly secured to the welded lower frame with bolts.

[0081] The upper end of the right adjustment support is a spherical pair, and the lower end is a fixed constraint. By rotating the ball screw fixed to the base, the sliding body fixed to the nut can slide along the guide rail of the base, and the sliding stroke is 40mm; the ball screw nut can be self-locked by the brake assembly component of the screw drive mechanism assembly; the right adjustment support can rotate around the x and y axes relative to the middle frame, and it cannot rotate relative to the lower frame.

[0082] The drive source that enables the adjustment frame assembly to move relative to the middle frame along the x-axis comes from the left and right adjusters, which include ball nuts, ball screws, and connecting plates. The middle frame is connected to the ball screw via the screw nut, and the ball screw drives the middle frame to move left and right. The ball screw is connected to the connecting plate via a bearing, and the connecting plate is fixed to the adjustment frame. The specific structure of this embodiment is as follows. Figure 18 、 Figure 19 As shown, it includes a screw nut 9-1, an adjusting baffle 9-2, a brake assembly 9-3, a flange end cover 9-4, a ball screw 9-5, a lower connecting plate 9-6, a flange baffle 9-7, an upper connecting plate 9-8, a bearing inner retaining ring 9-9, a shaft end baffle 9-10, a round nut 9-11, an angular contact ball bearing 9-12, a round head ordinary flat key 9-12, a disc spring 9-13, a hexagon head bolt 9-14, a spring washer 9-15, a hexagon socket screw assembly 9-16, a hexagon socket screw assembly 9-17, a hexagon socket screw assembly 9-18, and a hexagon socket screw assembly 9-19. The lower connecting plate 9-6 is fixedly connected to the middle frame by bolts, and the upper connecting plate 9-8 is fixedly connected to the adjustment frame by bolts. By rotating the ball screws 9-5 on the left and right adjusters, the adjustment frame fixed with the nut can slide along the guide rail on the middle frame, and the sliding stroke is 60mm; the self-locking of the ball screw nut can be achieved by the brake assembly of the screw drive mechanism assembly.

[0083] The driving source for the middle frame assembly to move along the y-axis relative to the upper frame comes from the front and rear adjusters, which include a ball nut, a ball screw, and a connecting plate. The upper frame is connected to the ball screw through the screw nut, and the ball screw drives the upper frame to move forward and backward. The ball screw and the connecting plate are connected by bearings, and the connecting plate is fixed to the adjustment frame. The specific structure of this embodiment is as follows. Figure 20 、 Figure 21 、 Figure 22As shown, it includes a screw nut 8-1, an adjusting baffle 8-2, a brake assembly 8-3, a bearing seat 8-4, a ball screw 8-5, a bearing inner retaining ring 8-6, a connecting plate 8-7, a sleeve 8-8, a flange baffle 8-9, a bearing outer retaining sleeve 8-10, a shaft end baffle 8-11, a round nut 8-12, a round nut 8-13, a round nut 8-14, an angular contact ball bearing 8-15, a stop washer 8-16, a round head ordinary flat key 8-17, a disc spring 8-18, a hexagon head bolt 8-19, a spring washer 8-20, a hexagon socket screw assembly 8-21, a hexagon socket screw assembly 8-22, and a hexagon socket screw assembly 8-23. Its connecting plate 8-7 is fixed to the adjustment frame by bolts, and is fixed to the upper frame by means of shaft hole cooperation. By rotating the ball screw 8-5 on the front and rear adjusters, the upper frame fixed to the nut can slide along the guide rail on the middle frame, and the sliding stroke is 60mm; the self-locking of the ball screw nut can be achieved by the brake assembly of the screw drive mechanism assembly.

[0084] The ball screw components of this embodiment are all equipped with a braking component, which provides a self-locking function for each degree of freedom.

[0085] The device of this embodiment has five degrees of freedom of movement. Among them, the three adjustment supports, the lower frame and the middle frame together form a parallel mechanism, which includes three degrees of freedom: movement along the z-axis and rotation around the x- and y-axes. The middle frame cooperates with the slide rail of the adjustment frame through a slider, and the adjustment frame can be moved along the y-axis on the middle frame through the left and right adjusters. The adjustment frame cooperates with the slide rail of the upper frame through a slider, and the upper frame can be moved along the x-axis on the adjustment frame through the front and rear adjusters. In addition, in addition to the cooperation of the screw nut to enable the support to move up and down, the cooperation of the slide rail and slider is also added to improve the overall rigidity of the mechanism. At the same time, a brake assembly is also designed to ensure that the flange maintains the position stability of the flange relative to the mounting hole during the process of installation and welding fixation. According to this embodiment, the device has the advantages of high rigidity, excellent mechanical properties, good position retention stability, and high assembly accuracy, which solves the problems of difficult positioning and control of flange parts during assembly and poor equipment assembly rigidity.

[0086] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A five-degree-of-freedom attitude adjustment and positioning device suitable for insertable flange components, characterized in that: It includes a lower frame, a middle frame, an adjustment frame, an upper frame, left and right adjusters, front and rear adjusters and at least three adjustment supports; The lower frame is fixed on the assembly interface, and the lower ends of all adjustment supports are distributed and installed on the lower frame; The middle frame is installed on the upper end of all adjustment supports; The adjustment support is used to adjust the rotation of the middle frame around two axes; Sliders are fixed to the upper surface of the middle frame and the lower surface of the upper frame. Guide rails are respectively provided on the upper and lower surfaces of the adjustment frame. The slide on the upper surface of the middle frame is placed in the guide rail provided on the lower surface of the adjustment frame, and the slide on the lower surface of the upper frame is placed in the guide rail provided on the upper surface of the adjustment frame. The left and right adjusters are used to move the middle frame left and right in the guide rail provided on the lower surface of the adjustment frame, and the front and rear adjusters are used to move the upper frame forward and backward in the guide rail provided on the upper surface of the adjustment frame. The lower frame, the middle frame, the adjustment frame and the upper frame are all hollow structures, and the end cover of the plug-in flange assembly to be installed passes through the lower frame, the middle frame and the adjustment frame and is fixed to the bottom of the upper frame; It includes three adjustment supports, namely left adjustment support, middle adjustment support and right adjustment support; The lower ends of the left adjustment support, the middle adjustment support and the right adjustment support are installed on the lower frame body. The left adjustment support and the right adjustment support are located at the two ends of one side of the lower frame body, and the middle adjustment support is located in the middle position of the other side of the lower frame body. The lower end of the left adjustment support is a rotary pair, and the upper end is a ball pair; The lower end of the right adjustment support is a fixed constraint, and the upper end is a ball joint; The upper and lower ends of the middle adjustment support are both ball pairs; The left adjustment support also includes a base, a screw drive mechanism assembly and a sliding body assembly; the sliding body assembly is arranged in the base, and the screw drive mechanism assembly drives the sliding body assembly to perform linear motion in the vertical direction on the track of the base, the bottom end of the base corresponds to the lower end of the support, and the top end of the sliding body assembly corresponds to the upper end of the adjustment support; The adjustment frame includes an adjustment frame body and two pairs of guide rails; The adjustment frame is a hollow structure, a pair of guide rails are arranged on the upper surface of the adjustment frame, and another pair of guide rails are arranged on the lower surface of the adjustment frame; The middle frame includes a middle frame body and two pairs of sliders; the middle frame body is a hollow structure, and the two pairs of sliders are fixed on the upper surface of the middle frame body, and the position of a pair of sliders corresponds to a slide rail on the upper surface of the adjustment frame body.

2. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly according to claim 1, characterized in that: The screw drive mechanism assembly includes a screw, a fastener, a disc spring and a brake assembly. The fastener, disc spring and brake assembly are sequentially mounted on the screw. When the screw stops rotating, the disc spring extends and presses the brake assembly. The brake assembly generates friction to cause the screw to self-lock.

3. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly according to claim 2, characterized in that: The brake assembly includes a flange cover, an asbestos gasket and a compression plate. The asbestos gasket is arranged between the flange cover and the compression plate. The disc spring is connected to the flange cover. When the screw stops rotating, the disc spring extends and compresses the flange cover, thereby causing the asbestos gasket to generate friction to cause the screw to self-lock.

4. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly according to claim 1, characterized in that: The lower frame consists of 3 square tubes, 3 welded plates and multiple welded feet; One end of square tube No. 1 is vertically fixedly connected to one end of square tube No. 2, and a supporting rib is provided between square tube No. 1 and square tube No.

2. The other end of square tube No. 2 is vertically fixedly connected to one end of square tube No. 3, and a supporting rib is provided between square tube No. 2 and square tube No.

3. Two welding plates are provided at both ends of the upper surface of square tube No. 1, respectively for installing the left adjustment support and the right adjustment support. A welding plate is provided in the middle position of the upper surface of square tube No. 2 for installing the middle adjustment support. A plurality of welding feet are distributed and fixed on the bottom of the three square tubes for welding and fixing them on the assembly interface.

5. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly according to claim 1, characterized in that: The left and right adjusters include ball nuts, ball screws, and connecting plates; The middle frame is connected to the ball screw through the screw nut, and the ball screw drives the middle frame to move left and right; The ball screw and the connecting plate are connected through a bearing, and the connecting plate is fixed on the adjustment frame.

6. The five-degree-of-freedom attitude adjustment and positioning device for an insertable flange assembly according to claim 1, characterized in that: The front and rear adjusters include a ball nut, a ball screw and a connecting plate; The upper frame is connected to the ball screw through the screw nut, and the ball screw drives the upper frame to move forward and backward; The ball screw and the connecting plate are connected through a bearing, and the connecting plate is fixed on the adjustment frame.

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