Heavy-load high-precision pose adjusting device

Abstract

The invention discloses a large-load high-precision pose adjusting device which comprises a rotary adjusting component, a two-dimensional displacement adjusting component and a parallel high-low pose adjusting component, and the rotary adjusting component is located on the bottommost layer of the whole device and used for adjusting the rotation angle of a load around a vertical Z axis; the two-dimensional displacement adjusting part is located above the rotation adjusting part and used for achieving two-dimensional displacement adjustment of the load in the horizontal plane. The parallel high-low posture adjusting component is located above the two-dimensional displacement adjusting component and used for installing a load and achieving high-low displacement adjustment of the load along the vertical Z axis and rotation angle adjustment of the load around the X axis and the Y axis. Under the working condition of heavy load, the precise adjustment capacity of three-dimensional displacement and three-dimensional posture is achieved, manual or automatic precise adjustment of six degrees of freedom of two-dimensional centering displacement, high-low displacement, pitching posture, rolling posture and deflection posture can be provided according to the load adjustment requirement, and the precise adjustment mechanism is high in positioning precision, compact in structure and large in bearing capacity.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment manufacturing, and in particular relates to a high-precision posture adjustment device with a large load capacity. Background Art

[0002] High-pressure neutron diffractometers have multiple functions such as diffraction and imaging. They have important applications in condensed matter physics, chemistry, new energy, materials science, geology and other fields. They can be used to study the structure and physical properties of materials under extreme conditions such as high pressure, high and low temperature, and magnetic fields, and provide support for China to carry out basic scientific research, cutting-edge cross-disciplinary research, and solve key technical problems. In high-pressure neutron experiments, the position and direction of the beam need to be adjusted according to requirements. Therefore, a large-load, high-precision six-dimensional position adjustment device is required to carry the pressure beam and realize the precise adjustment of the three-dimensional position and spatial posture of the pressure beam, thereby realizing the precise adjustment of the spatial position and posture of the pressure part during neutron diffraction. Summary of the invention

[0003] The purpose of the present invention is to provide a large-load high-precision posture adjustment device with the ability to precisely adjust three-dimensional displacement and three-dimensional posture. Under the working condition of carrying high loads, it can provide manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude, and yaw attitude according to the needs of load adjustment, and it has high positioning accuracy, compact structure and large load-bearing capacity.

[0004] In order to achieve the above-mentioned object, one aspect of the present invention provides a high-precision posture adjustment device with a large load capacity, comprising a rotation adjustment component, a two-dimensional displacement adjustment component and a parallel height adjustment component.

[0005] The rotation adjustment component is located at the bottom layer of the entire device, and is used to adjust the rotation angle of the load around the vertical Z axis; the two-dimensional displacement adjustment component is located above the rotation adjustment component, and is used to adjust the two-dimensional displacement of the load in the horizontal plane; the parallel height adjustment component is located above the two-dimensional displacement adjustment component, and is used to install the load and realize the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis and the Y axis;

[0006] The parallel height adjustment component includes four heavy-duty vertical lifting and adjustment components and a load installation assembly. The four heavy-duty vertical lifting and adjustment components are used to collaboratively realize the lifting position and pitch and roll attitude adjustment of the load installed on the load installation assembly. When the four heavy-duty vertical lifting and adjustment components move up or down synchronously in the same direction, the height displacement adjustment of the load along the vertical Z axis can be realized. When two relatively heavy-duty vertical lifting and adjustment components move in opposite directions synchronously, the pitch or roll attitude adjustment of the load can be realized.

[0007] Preferably, the rotation adjustment component includes a rotation fixed base, an external gear cross roller slewing bearing, a drive motor assembly, a rotation angle measurement assembly, a rotation limit assembly, and a rotation adjustment platform;

[0008] The rotating fixed base is installed on the horizontal base surface, and the top surface is used to install the external gear cross roller slewing bearing, the rotation angle measuring component and the rotation limit component; the external gear cross roller slewing bearing is used to provide rotation guide and gear drive; the rotating adjustment table is installed on the inner ring of the external gear cross roller slewing bearing, and two drive motor assemblies are installed diagonally; the drive motor assembly is used to realize the rotation angle adjustment of the rotating adjustment table and the upper load; the rotation angle measuring assembly is installed at the center position of the rotating fixed base, and its rotating shaft is connected to the upper rotating adjustment table, which is used for high-precision angle measurement of the Z axis and full closed-loop feedback of the motion control of the two drive motor assemblies; the rotation limit assembly is used to limit the rotation motion angle.

[0009] Preferably, the top surface of the rotation adjustment platform is provided with a linear guide rail installation positioning platform for installing the guide rail of the two-dimensional displacement adjustment component; the bottom surface is provided with a boss for positioning with the inner ring of the external gear cross roller slewing bearing, and the center of the boss is provided with a concave hole for connecting the rotation angle measurement component;

[0010] The rotation angle measurement component adopts an absolute angle encoder, the mounting seat of the angle encoder is mounted on the rotation adjustment table through a flange, and the outer shaft under the flange is used to ensure concentricity with the rotation adjustment table.

[0011] Preferably, the two-dimensional displacement adjustment component includes an X-direction guide rail, an X-direction drive component, an X-direction grating measurement component, an X-direction limit component, a Y-direction guide rail support table, a Y-direction guide rail, a Y-direction drive component, a Y-direction grating measurement component, a Y-direction limit component, and a top mounting table;

[0012] The X-direction guide rail is installed above the rotary adjustment table and connected to the Y-direction guide support table through a precision guide rail slider; the X-direction drive assembly is installed on the side of the rotary adjustment table to realize the movement of the Y-direction guide support table along the X-axis direction; the X-direction grating measurement assembly is installed on the other side of the rotary adjustment table for high-precision measurement of X-direction displacement and full closed-loop feedback of X-direction drive assembly motion control;

[0013] The top surface of the Y-guide rail support platform is used to install the Y-guide rail, and is connected to the top mounting platform through a precision guide rail slider; the Y-drive assembly is installed on the side of the Y-guide rail support platform to realize the movement of the Y-guide rail support platform along the Y-axis direction; the Y-grating measurement assembly is installed on the other side of the Y-guide rail support platform for high-precision measurement of the Y-direction displacement and full closed-loop feedback of the motion control of the Y-drive assembly; the X- and Y-limit assemblies are used to limit the range of two-dimensional motion in the horizontal plane.

[0014] Preferably, the V-axis and Y-axis drive components include a second servo motor, a motor mounting seat, a lead screw fixing mounting seat, a lead screw, a lead screw nut seat, and a lead screw support seat;

[0015] The motor mounting seat, the screw fixed mounting seat and the screw support seat of the X-axis drive assembly are fixedly mounted on the top surface of the rotary adjustment table, the screw nut seat is fixedly connected to the upper Y-guide rail support table, and the screw nut seat drives the Y-guide rail support table and the upper load to adjust the displacement along the X-axis under the drive of the second servo motor;

[0016] The motor mounting seat, screw fixed mounting seat and screw support seat of the Y-axis drive assembly are fixedly mounted on the top surface of the Y-guide rail support platform, and the screw nut seat is fixedly connected to the top mounting platform above. The screw nut seat drives the top mounting platform and the upper load to adjust the displacement along the Y-axis under the drive of the second servo motor.

[0017] Preferably, the X-axis and Y-axis grating measurement components include a reading head, a grating scale, a grating scale mounting seat, a reading head adjustment seat, and a reading head mounting seat; the reading head adjustment seat is used to adjust the gap between the reading head and the grating scale; the X-axis grating scale mounting seat is fixed to the top surface of the rotating adjustment table, and the X-axis reading head mounting seat is fixed to the bottom surface of the Y-axis guide rail support table and moves with it; the Y-axis grating scale mounting seat is fixed to the top surface of the Y-axis guide rail support table, and the Y-axis reading head mounting seat is fixed to the bottom surface of the guide rail support table and moves with it.

[0018] Preferably, the X-guide rail is installed between the rotation adjustment platform and the longitudinal guide rail support platform to realize the X-direction guidance of the Y-guide rail support platform; the Y-guide rail is installed between the Y-guide rail support platform and the top mounting platform to realize the Y-direction guidance of the top mounting platform.

[0019] Preferably, the heavy-duty vertical lifting and adjustment components include a lifting beam, a worm gear drive assembly, a precision guide assembly, a vertical grating assembly, and a vertical limit assembly. The precision guide assembly is installed on both sides of the worm gear drive assembly. The lifting beam is driven by the worm gear drive assembly under the guidance of the precision guide assembly to achieve adjustment of the load roll attitude, pitch attitude and height position. The vertical grating assembly is used to achieve high-precision measurement of the vertical displacement of each worm gear drive assembly and full closed-loop feedback of the lifting motion control; the vertical limit assembly is used to limit the range of vertical lifting.

[0020] Preferably, the worm gear drive assembly includes a lifting drive motor, a lifting drive reducer, a connecting piece, a worm gear reducer, and a lifting nut; the lifting drive motor is connected to the lifting drive reducer and is suspended and fixed on the input shaft of the worm gear reducer through the connecting piece; the worm gear reducer is fixed on the top mounting platform, and the lifting nut is fixedly connected to the upper lifting beam; the lifting drive motor can achieve high torque output through the lifting drive reducer and the worm gear reducer.

[0021] Preferably, it also includes a motion control system, which uses an integrated controller to achieve motion control of three-axis displacement and three-axis posture through field bus technology.

[0022] The large-load, high-precision posture adjustment device according to the above aspects of the present invention can provide manual or automatic precision adjustment of six degrees of freedom of two-dimensional centering displacement, height displacement, pitch attitude, roll attitude, and yaw attitude according to the load adjustment needs under the condition of carrying high loads, and has high positioning accuracy, compact structure and large load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0024] Figure 1 This is an overall structural diagram of a large-load, high-precision posture adjustment device according to an embodiment of the present invention;

[0025] Figure 2 is a structural diagram of an X-axis / Y-axis drive assembly according to an embodiment of the present invention;

[0026] Figure 3 is a structural diagram of an X-direction / Y-direction grating measurement assembly according to an embodiment of the present invention;

[0027] Figure 4 It is a structural diagram of a parallel height adjustment component of an embodiment of the present invention;

[0028] Among them: 1-rotation adjustment component, 2-two-dimensional displacement adjustment component, 3-parallel height adjustment component, 4-rotation fixed base, 5-external gear cross roller slewing bearing, 6-drive motor assembly, 8-rotation limit assembly, 9-rotation adjustment table, 10-first servo motor, 11-reducer, 12-gear, 13-X guide rail, 15-X grating measurement assembly, 16-X limit assembly, 17-Y guide rail support table, 18-Y guide rail, 19-Y drive assembly, 22-top mounting table, 23-second servo motor, 25-motor mounting seat, 27-screw fixed mounting seat, 28-screw, 30-screw nut seat, 31-screw support Seat, 32-reading head, 33-grating ruler, 34-grating ruler mounting seat, 35-reading head adjustment seat, 36-reading head mounting seat, 37-heavy vertical lifting adjustment components, 38-load mounting assembly, 39-lifting drive motor, 40-lifting drive reducer, 41-connecting parts, 42-worm gear reducer, 43-lifting nut, 44-lifting beam, 45-worm gear drive assembly, 46-precision guide assembly, 47-vertical grating assembly, 48-vertical limit assembly, 49-precision guide shaft, 50-graphite brass guide sleeve, 51-guide sleeve mounting seat, 52-bearing base, 53-ball head seat, 54-ball head seat guide seat, 55-lifting beam ball head mounting seat. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below 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 creative work are within the scope of protection of the present invention.

[0030] The embodiment of the present invention provides a high-precision posture adjustment device with a large load capacity, such as Figure 1 As shown, the high-precision posture adjustment device with a large load capacity according to an embodiment of the present invention comprises four parts: a rotation adjustment component 1, a two-dimensional displacement adjustment component 2, a parallel height adjustment component 3 and a motion control system.

[0031] The rotation adjustment component 1 is located at the bottom layer of the entire device, and is used to realize the rotation angle adjustment of the load around the vertical Z axis; the two-dimensional displacement adjustment component 2 is located above the rotation adjustment component 1, and is used to realize the two-dimensional displacement adjustment of the load in the horizontal plane; the parallel height adjustment component 3 is located above the two-dimensional displacement adjustment component 2, and is used to install the load and realize the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis and Y axis; the motion control system is used to realize the motion control and position display of three-axis displacement and three-axis posture.

[0032] The rotation adjustment component includes a rotation fixed base 4, an external gear cross roller slewing bearing 5, a drive motor assembly 6, a rotation angle measuring assembly, a rotation limiting assembly 8, and a rotation adjustment platform 9.

[0033] The rotating fixed base 4 is installed on a horizontal base surface, and the top surface is used to install the external gear cross roller slewing bearing 5, the rotation angle measuring component and the rotation limiting component 8; the external gear cross roller slewing bearing 5 is composed of two seat rings, the inner ring and the outer ring, which are used to provide rotation guide and gear drive; the rotating adjustment platform 9 is installed on the inner ring of the external gear cross roller slewing bearing 5, and two drive motor components 6 are installed diagonally; the drive motor component 6 includes a first servo motor 10, a reducer 11, and a gear 12. The first servo motor 10 drives the gear 12 to rotate around the slewing bearing 5, which is used to realize the rotation angle adjustment of the rotating adjustment platform 9 and the upper load; the dual motor drive mode can increase the torque and eliminate the imbalance of the single-point driving torque; the rotation angle measuring component is installed at the center of the rotating fixed base 4, and its rotating shaft is connected to the upper rotating adjustment platform 9, which is used for high-precision angle measurement of the Z axis and full closed-loop feedback of the dual servo motor motion control to achieve high-precision positioning; the rotation limiting component 8 is used to limit the rotation movement angle to prevent problems such as wire pulling caused by exceeding the restricted angle range.

[0034] The top surface of the rotary adjustment platform 9 is provided with a linear guide rail mounting positioning platform for installing the guide rail of the two-dimensional displacement adjustment component 2; the bottom surface is provided with a boss for positioning with the inner ring of the external gear cross roller slewing bearing 5, and the center of the boss is also provided with a recessed hole for connecting the rotation angle measurement component.

[0035] The rotation angle measurement component adopts an absolute angle encoder, the mounting seat of the angle encoder is mounted on the rotation adjustment platform 9 through a flange, and the outer shaft under the flange is used to ensure concentricity with the rotation adjustment platform 9.

[0036] The two-dimensional displacement adjustment component 2 includes an X-guide rail 13, an X-drive component, an X-grating measurement component 15, an X-limit component 16, a Y-guide rail support platform 17, a Y-guide rail 18, a Y-drive component 19, a Y-grating measurement component, a Y-limit component, and a top mounting platform 22, which is used to realize the two-dimensional displacement adjustment of the load in the horizontal plane.

[0037] The X-direction guide rail 13 is installed above the rotary adjustment table 9 and is connected to the Y-direction guide support table 17 through a precision guide rail slider; the X-direction drive assembly is installed on the side of the rotary adjustment table 9 to realize the movement of the Y-direction guide support table 17 along the X-axis direction; the X-direction grating measurement assembly 15 is installed on the other side of the rotary adjustment table 9 for high-precision measurement of X-direction displacement and full closed-loop feedback of X-direction drive assembly motion control to achieve high-precision positioning; the top surface of the Y-direction guide support table 17 is used to install the Y-direction guide rail 18, and is connected to the top mounting table 22 through a precision guide rail slider; the Y-direction drive assembly 19 is installed on the side of the Y-direction guide support table 17 to realize the movement of the Y-direction guide support table 17 along the Y-axis direction; the Y-direction grating measurement assembly is installed on the other side of the Y-direction guide support table 17 for high-precision measurement of Y-direction displacement and full closed-loop feedback of Y-direction drive assembly 19 motion control to achieve high-precision positioning; the X-direction / Y-direction limit assembly and the X-direction / Y-direction limit assembly are used to limit the range of two-dimensional motion on the horizontal plane to ensure motion safety.

[0038] like Figure 2 As shown, the X-axis / Y-axis drive assembly includes a second servo motor 23, a motor mounting seat 25, a screw fixed mounting seat 27, a screw 28, a screw nut seat 30, and a screw support seat 31; the motor mounting seat 25, the screw fixed mounting seat 27 and the screw support seat 31 of the X-axis drive assembly are fixedly mounted on the top surface of the rotation adjustment table 9, the screw nut seat 30 is fixedly connected to the upper Y-guide rail support platform 17, and the screw nut seat 30 drives the Y-guide rail support platform 17 and the upper load to perform displacement adjustment along the X-axis under the drive of the second servo motor 23; the motor mounting seat 25, the screw fixed mounting seat 27 and the screw support seat 31 of the Y-axis drive assembly 19 are fixedly mounted on the top surface of the Y-guide rail support platform 17, the screw nut seat 30 is fixedly connected to the upper top mounting platform 22, and the screw nut seat 30 drives the top mounting platform 22 and the upper load to perform displacement adjustment along the Y-axis under the drive of the second servo motor 23.

[0039] like Figure 3 As shown, the X-axis / Y-axis grating measurement assembly includes a reading head 32, a grating scale 33, a grating scale mounting seat 34, a reading head adjustment seat 35, and a reading head mounting seat 36; the reading head adjustment seat 34 is used to adjust the gap between the reading head 32 and the grating scale 33; the X-axis grating scale mounting seat is fixed on the top surface of the rotating adjustment table 9, and the X-axis reading head mounting seat is fixed on the bottom surface of the Y-axis guide rail support table to follow its movement; the Y-axis grating scale mounting seat is fixed on the top surface of the Y-axis guide rail support table, and the Y-axis reading head mounting seat is fixed on the bottom surface of the guide rail support table to follow its movement.

[0040] The X-guide rail 13 is installed between the rotation adjustment table 9 and the Y-guide rail support table 17 to achieve X-direction guidance of the Y-guide rail support table 17; the Y-guide rail 18 is installed between the Y-guide rail support table 17 and the top mounting table 22 to achieve Y-direction guidance of the top mounting table 22.

[0041] like Figure 4 As shown, the parallel height adjustment component 3 includes four heavy-duty vertical lifting adjustment components 37 and a load installation assembly 38. The four heavy-duty vertical lifting adjustment components 37 cooperate to achieve the lifting position and pitch and roll attitude adjustment of the 20-ton load on the load installation assembly 38; when the four heavy-duty vertical lifting adjustment components 37 rise or fall synchronously in the same direction, the height displacement adjustment of the load along the vertical Z axis can be achieved; when only two heavy-duty vertical lifting adjustment components 37 on opposite sides move synchronously in opposite directions, the pitch or roll attitude adjustment of the load can be achieved.

[0042] The heavy-duty vertical lifting and adjusting component 37 includes a lifting beam 44 , a worm gear drive assembly 45 , a precision guide assembly 46 , a vertical grating assembly 47 , and a vertical limit assembly 48 .

[0043] The worm gear drive assembly 45 includes a lifting drive motor 39, a lifting drive reducer 40, a connecting piece 41, a worm gear reducer 42, and a lifting nut 43, which mainly provides driving lift for load lifting and posture adjustment; the lifting drive motor 39 is connected to the lifting drive reducer 40, and is suspended and fixed on the input shaft of the worm gear reducer 42 through the connecting piece 41; the worm gear reducer 42 is fixed on the top mounting platform 22, and the lifting nut 43 is fixedly connected to the upper lifting beam 44; the lifting drive motor 39 can achieve large torque output through the lifting drive reducer 40 and the worm gear reducer 42; the lifting beam 44 can be lifted and lowered under the action of the worm gear drive assembly 45 to achieve precise adjustment of the load roll posture, pitch posture and height position.

[0044] The precision guide assembly 46 is installed on both sides of the worm gear drive assembly 45, and mainly includes components such as a precision guide shaft 49, a graphite brass guide sleeve 50, and a guide sleeve mounting seat 51; the lifting beam 44 is guided by the precision guide shaft 49 and the graphite brass sleeve 50, and the lifting nut 43 is driven by a servo motor to rotate to achieve lifting movement.

[0045] The load mounting assembly 38 includes a bearing base 52, a ball head seat 53, a ball head seat guide seat 54, and a lifting beam ball head mounting seat 55; the design of the ball head seat 53 can solve the lateral displacement problem caused by the bearing base 52 rotating around the center after the bearing base 52 moves up and down on both diagonal sides during roll or pitch adjustment. After the ball head seat 53 is installed on the ball head guide seat 54, it can move in the lifting beam 44 while the ball head slides, thereby solving the problem of mechanical tilt displacement of the posture adjustment.

[0046] The vertical grating assembly 47 includes a grating scale, a grating scale mounting seat, a reading head adjustment seat, a reading head mounting seat, etc., which are used to achieve high-precision measurement of the vertical displacement of each worm gear drive assembly and full closed-loop feedback of the lifting motion control, thereby achieving high-precision positioning.

[0047] The vertical limit assembly 48 is used to limit the range of vertical lifting, and includes three parts: a vertical limit trigger seat, a vertical limit switch, and a vertical limit switch mounting seat. The vertical limit trigger seat is installed on the lifting beam 44 that moves up and down, and the vertical limit switch mounting seat is installed on a relatively fixed top mounting platform 22. The direct distance between them is precisely designed to ensure a movement range of ±30mm.

[0048] The motion control system adopts an integrated controller to realize the motion control of three-axis displacement and three-axis posture through field bus technology. Through 8 sets of servo systems, the controllable operating axes include 1 rotation axis, 2 horizontal displacement axes, and 4 vertical lifting axes.

[0049] The high-precision posture adjustment device with a large load capacity according to the above embodiment of the present invention has the following beneficial effects:

[0050] (1) The present invention has high positioning accuracy and large load-bearing capacity. Under the working conditions of a load height of 2m and a load weight of 20 tons, the positioning accuracy of the three-dimensional displacement within the moving range of ±30mm can reach ±10μm, the positioning accuracy of the roll and pitch attitude within the moving range of ±1° can reach ±0.02°, and the positioning accuracy of the yaw attitude within the moving range of ±30° can reach ±0.01°.

[0051] (2) The present invention integrates the pitch attitude and roll attitude adjustment into the height displacement adjustment mechanism, which makes the structure of the entire adjustment device more compact compared to the three-group independent structural solution.

[0052] (3) The present invention adopts a layered design, and the servo drive components and grating feedback components are installed on both sides of the structure, which is convenient for maintenance.

[0053] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A high-precision posture adjustment device with a large load capacity, characterized in that: It includes a rotation adjustment component, a two-dimensional displacement adjustment component and a parallel height adjustment component. The rotation adjustment component is located at the bottom layer of the entire device, and is used to adjust the rotation angle of the load around the vertical Z axis; the two-dimensional displacement adjustment component is located above the rotation adjustment component, and is used to adjust the two-dimensional displacement of the load in the horizontal plane; the parallel height adjustment component is located above the two-dimensional displacement adjustment component, and is used to install the load and realize the height displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment around the X axis and the Y axis; The parallel height adjustment component includes four heavy-duty vertical lifting and adjustment components and a load installation assembly. The four heavy-duty vertical lifting and adjustment components are used to collaboratively realize the lifting position and pitch and roll attitude adjustment of the load installed on the load installation assembly. When the four heavy-duty vertical lifting and adjustment components move up or down synchronously in the same direction, the height displacement adjustment of the load along the vertical Z axis can be realized. When two relatively heavy-duty vertical lifting and adjustment components move in opposite directions synchronously, the pitch or roll attitude adjustment of the load can be realized.

2. The posture adjustment device according to claim 1, characterized in that: The rotation adjustment component includes a rotation fixed base, an external gear cross roller slewing bearing, a drive motor assembly, a rotation angle measurement assembly, a rotation limit assembly, and a rotation adjustment table; The rotating fixed base is installed on the horizontal base surface, and the top surface is used to install the external gear cross roller slewing bearing, the rotation angle measuring component and the rotation limit component; the external gear cross roller slewing bearing is used to provide rotation guide and gear drive; the rotating adjustment table is installed on the inner ring of the external gear cross roller slewing bearing, and two drive motor assemblies are installed diagonally; the drive motor assembly is used to realize the rotation angle adjustment of the rotating adjustment table and the upper load; the rotation angle measuring assembly is installed at the center position of the rotating fixed base, and its rotating shaft is connected to the upper rotating adjustment table, which is used for high-precision angle measurement of the Z axis and full closed-loop feedback of the motion control of the two drive motor assemblies; the rotation limit assembly is used to limit the rotation motion angle.

3. The posture adjustment device according to claim 2, characterized in that: The top surface of the rotary adjustment platform is provided with a linear guide rail installation positioning platform for installing the guide rail of the two-dimensional displacement adjustment component; the bottom surface is provided with a boss for positioning with the inner ring of the external gear cross roller slewing bearing, and the center of the boss is provided with a concave hole for connecting the rotation angle measurement component; The rotation angle measurement component adopts an absolute angle encoder, the mounting seat of the angle encoder is mounted on the rotation adjustment table through a flange, and the outer shaft under the flange is used to ensure concentricity with the rotation adjustment table.

4. The posture adjustment device according to any one of claims 1 to 3, characterized in that: The two-dimensional displacement adjustment component includes an X-direction guide rail, an X-direction drive component, an X-direction grating measurement component, an X-direction limit component, a Y-direction guide rail support table, a Y-direction guide rail, a Y-direction drive component, a Y-direction grating measurement component, a Y-direction limit component, and a top mounting table; The X-direction guide rail is installed above the rotary adjustment table and connected to the Y-direction guide support table through a precision guide rail slider. The X-direction drive assembly is installed on the side of the rotary adjustment table to realize the movement of the Y-direction guide support table along the X-axis direction. The X-direction grating measurement assembly is installed on the other side of the rotary adjustment table for high-precision measurement of X-direction displacement and full closed-loop feedback of X-direction drive assembly motion control. The top surface of the Y-guide rail support platform is used to install the Y-guide rail, and is connected to the top mounting platform through a precision guide rail slider; the Y-drive assembly is installed on the side of the Y-guide rail support platform to realize the movement of the Y-guide rail support platform along the Y-axis direction; the Y-grating measurement assembly is installed on the other side of the Y-guide rail support platform for high-precision measurement of the Y-direction displacement and full closed-loop feedback of the motion control of the Y-drive assembly; the X- and Y-limit assemblies are used to limit the range of two-dimensional motion in the horizontal plane.

5. The posture adjustment device according to claim 4, characterized in that: The X-axis and Y-axis drive components include a second servo motor, a motor mounting seat, a lead screw fixed mounting seat, a lead screw, a lead screw nut seat, and a lead screw support seat; The motor mounting seat, the screw fixed mounting seat and the screw support seat of the X-axis drive assembly are fixedly mounted on the top surface of the rotary adjustment table, the screw nut seat is fixedly connected to the upper Y-guide rail support table, and the screw nut seat drives the Y-guide rail support table and the upper load to adjust the displacement along the X-axis under the drive of the second servo motor; The motor mounting seat, screw fixed mounting seat and screw support seat of the Y-axis drive assembly are fixedly mounted on the top surface of the Y-guide rail support platform, and the screw nut seat is fixedly connected to the top mounting platform above. The screw nut seat drives the top mounting platform and the upper load to adjust the displacement along the Y-axis under the drive of the second servo motor.

6. The posture adjustment device according to claim 4, characterized in that: The X-axis and Y-axis grating measurement components include a reading head, a grating scale, a grating scale mounting seat, a reading head adjustment seat, and a reading head mounting seat; the reading head adjustment seat is used to adjust the gap between the reading head and the grating scale. The X-axis grating scale mounting seat is fixed on the top surface of the rotating adjustment table, and the X-axis reading head mounting seat is fixed on the bottom surface of the Y-axis guide rail support table to follow its movement; the Y-axis grating scale mounting seat is fixed on the top surface of the Y-axis guide rail support table, and the Y-axis reading head mounting seat is fixed on the bottom surface of the guide rail support table to follow its movement.

7. The posture adjustment device according to claim 4, characterized in that: The X-guide rail is installed between the rotation adjustment platform and the longitudinal guide support platform to realize the X-direction guidance of the Y-guide support platform; the Y-guide rail is installed between the Y-guide support platform and the top mounting platform to realize the Y-direction guidance of the top mounting platform.

8. The posture adjustment device according to any one of claims 1 to 3, characterized in that: The heavy-duty vertical lifting and adjustment components include a lifting beam, a worm gear drive assembly, a precision guide assembly, a vertical grating assembly, and a vertical limit assembly. The precision guide assembly is installed on both sides of the worm gear drive assembly. The lifting beam is driven by the worm gear drive assembly under the guidance of the precision guide assembly to achieve adjustment of the load roll attitude, pitch attitude and height position. The vertical grating assembly is used to achieve high-precision measurement of the vertical displacement of each worm gear drive assembly and full closed-loop feedback of the lifting motion control; the vertical limit assembly is used to limit the range of vertical lifting.

9. The posture adjustment device according to claim 8, characterized in that: The worm gear drive assembly includes a lifting drive motor, a lifting drive reducer, a connecting piece, a worm gear reducer, and a lifting nut; the lifting drive motor is connected to the lifting drive reducer and is suspended and fixed on the input shaft of the worm gear reducer through the connecting piece; The worm gear reducer is fixed on the top mounting platform, and the lifting nut is fixedly connected to the upper lifting beam; the lifting drive motor can achieve high torque output through the lifting drive reducer and the worm gear reducer.

10. The posture adjustment device according to any one of claims 1 to 3, characterized in that: The invention also comprises a motion control system, wherein the motion control system adopts an integrated controller to realize motion control of three-axis displacement and three-axis posture through field bus technology.

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