A large-load high-precision position adjustment device

Abstract

The application discloses a large-load high-precision position adjustment device, which comprises a rotation adjustment component, a two-dimensional displacement adjustment component and a parallel high-low attitude adjustment component. The rotation adjustment component is located at the bottom layer of the whole device and is used for realizing rotation angle adjustment of a load around a vertical Z axis. The two-dimensional displacement adjustment component is located above the rotation adjustment component and is used for realizing two-dimensional displacement adjustment of the load in a horizontal plane. The parallel high-low attitude adjustment component is located above the two-dimensional displacement adjustment component and is used for mounting the load and realizing high-low displacement adjustment of the load along the vertical Z axis and rotation angle adjustment of the load around an X axis and a Y axis. The application has the precise adjustment capability of three-dimensional displacement and three-dimensional attitude under the working condition of heavy load, can provide manual or automatic precise adjustment of six degrees of freedom, i.e. two-dimensional centering displacement, high-low displacement, pitching attitude, rolling attitude and yawing attitude, according to the adjustment requirement of the load, and has high positioning precision, compact structure and large bearing capacity.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of equipment manufacturing technology, and particularly relates to a large-load high-precision position and posture adjusting device. BACKGROUND

[0002] A high-pressure neutron diffractometer has multiple functions such as diffraction and imaging, and has important applications in the fields of condensed matter physics, chemistry, new energy, material science, geology and the like, and can be used to study the structure and properties of matter under extreme conditions such as high pressure, high and low temperature, and magnetic field, thereby providing support for China to carry out basic scientific research, cutting-edge cross-research, and solve key technical problems. During 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 and posture adjusting device is needed to carry the pressure beam and realize precise adjustment of the three-dimensional position and spatial posture of the pressure beam, thereby realizing precise adjustment of the spatial position and posture of the pressure part during neutron diffraction. SUMMARY

[0003] The purpose of the present application is to provide a large-load high-precision position and posture adjusting device, which has the ability to precisely adjust three-dimensional displacement and three-dimensional posture, and under the working condition of carrying high load, can provide manual or automatic precise adjustment of six degrees of freedom of two-dimensional centering displacement, high-low displacement, pitch attitude, roll attitude, and yaw attitude according to the adjustment needs of the load, and has high positioning accuracy, compact structure, and large carrying capacity.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present application provides a large-load high-precision position and posture adjusting device, comprising a rotation adjusting component, a two-dimensional displacement adjusting component, and a parallel high-low attitude adjusting component,

[0005] The rotation adjusting component is located at the bottom layer of the whole device, and is used to realize the rotation angle adjustment of the load around the vertical Z axis; the two-dimensional displacement adjusting component is located above the rotation adjusting component, and is used to realize the two-dimensional displacement adjustment of the load in the horizontal plane; the parallel high-low attitude adjusting component is located above the two-dimensional displacement adjusting component, and is used to install the load and realize the high-low 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 high-low attitude adjusting component comprises four heavy vertical lifting adjusting components and a load mounting assembly, the four heavy vertical lifting adjusting components are used to cooperatively realize the lifting position and pitch and roll attitude adjustment of the load mounted on the load mounting assembly, in the case that the four heavy vertical lifting adjusting components move synchronously and in the same direction or synchronously and in the opposite direction, the high-low displacement adjustment of the load along the vertical Z axis can be realized, and in the case that the opposite two heavy vertical lifting adjusting components move synchronously and in the opposite direction, the pitch or roll attitude adjustment of the load can be realized.

[0007] Preferably, the rotation adjustment component comprises a rotation fixed base, an external tooth cross roller slewing bearing, a driving motor assembly, a rotation angle measurement assembly, a rotation limiting assembly, and a rotation adjustment platform.

[0008] The rotation fixed base is installed on a horizontal base surface, and a top surface is used to install the external tooth cross roller slewing bearing, the rotation angle measurement assembly, and the rotation limiting assembly. The external tooth cross roller slewing bearing is used to provide slewing guidance and gear driving. The rotation adjustment platform is installed on the inner ring of the external tooth cross roller slewing bearing, and two driving motor assemblies are installed on opposite corners. The driving motor assemblies are used to realize rotation angle adjustment of the rotation adjustment platform and the load above. The rotation angle measurement assembly is installed at the center of the rotation fixed base, and the rotation axis thereof is connected with the rotation adjustment platform above, which is used for high-precision angle measurement of the Z-axis and full-closed loop feedback of motion control of the two driving motor assemblies. The rotation limiting 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, which is used to install the guide rails of the two-dimensional displacement adjustment component. The bottom surface is provided with a boss for positioning with the inner ring of the external tooth cross roller slewing bearing, and the center of the boss is provided with a recess for connecting the rotation angle measurement assembly.

[0010] The rotation angle measurement assembly adopts an absolute angle encoder. The mounting seat of the angle encoder is installed on the rotation adjustment platform through a flange, and the concentricity with the rotation adjustment platform is ensured through the outer shaft centering below the flange.

[0011] Preferably, the two-dimensional displacement adjustment component comprises an X-direction guide rail, an X-direction driving assembly, an X-direction grating measurement assembly, an X-direction limiting assembly, a Y-direction rail support platform, a Y-direction guide rail, a Y-direction driving assembly, a Y-direction grating measurement assembly, a Y-direction limiting assembly, and a top installation platform.

[0012] The X-direction guide rail is installed above the rotation adjustment platform and is connected with the Y-direction rail support platform through a precision guide rail sliding block. The X-direction driving assembly is installed on the side surface of the rotation adjustment platform, which is used to realize motion of the Y-direction rail support platform along the X-axis direction. The X-direction grating measurement assembly is installed on the other side surface of the rotation adjustment platform, which is used for high-precision measurement of X-direction displacement and full-closed loop feedback of motion control of the X-direction driving assembly.

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

[0014] Preferably, the V direction and Y direction driving assembly comprises a second servo motor, a motor mounting seat, a screw fixing mounting seat, a screw, a screw nut seat, and a screw support seat;

[0015] The motor mounting seat, the screw fixing mounting seat, and the screw support seat of the X direction driving assembly are fixedly installed on the top surface of the rotary adjustment table, the screw nut seat is fixedly connected with the upper Y direction guide rail support table, and the screw nut seat drives the Y direction guide rail support table and the upper load to move along the X axis under the driving of the second servo motor;

[0016] The motor mounting seat, the screw fixing mounting seat, and the screw support seat of the Y direction driving assembly are fixedly installed on the top surface of the Y direction guide rail support table, the screw nut seat is fixedly connected with the upper top mounting table, and the screw nut seat drives the top mounting table and the upper load to move along the Y axis under the driving of the second servo motor.

[0017] Preferably, the X direction and Y direction grating measurement assembly comprises a reading head, a grating ruler, a grating ruler mounting seat, a reading head adjustment seat, and a reading head mounting seat; the reading head adjustment seat is used for adjusting the gap between the reading head and the grating ruler; the X direction grating ruler mounting seat is fixedly installed on the top surface of the rotary adjustment table, and the X direction reading head mounting seat is fixedly installed on the bottom surface of the Y direction guide rail support table and moves with the Y direction guide rail support table; the Y direction grating ruler mounting seat is fixedly installed on the top surface of the Y direction guide rail support table, and the Y direction reading head mounting seat is fixedly installed on the bottom surface of the guide rail support table and moves with the guide rail support table.

[0018] Preferably, the X direction guide rail is installed between the rotary adjustment table and the longitudinal guide rail support table, and is used for realizing the X direction guiding of the Y direction guide rail support table; the Y direction guide rail is installed between the Y direction guide rail support table and the top mounting table, and is used for realizing the Y direction guiding of the top mounting table.

[0019] Preferably, the heavy vertical lifting adjustment component comprises a lifting beam, a worm gear driving assembly, a precision guiding assembly, a vertical grating assembly, and a vertical limiting assembly; the precision guiding assembly is installed on both sides of the worm gear driving assembly; the lifting beam is driven by the worm gear driving assembly under the guiding of the precision guiding assembly, realizes the adjustment of the roll attitude, the pitch attitude, and the height position of the load, the vertical grating assembly is used for realizing the high-precision measurement of the vertical displacement of each worm gear driving assembly and the full-closed-loop feedback of the lifting motion control; and the vertical limiting assembly is used for limiting the range of vertical lifting.

[0020] Preferably, the worm gear drive assembly comprises 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 with the lifting drive reducer and is suspendedly fixed on an input shaft of the worm gear reducer through the connecting piece; the worm gear reducer is fixed on the top mounting table, and the lifting nut is fixedly connected with the upper lifting beam; the lifting drive motor can realize large torque output through the lifting drive reducer and the worm gear reducer.

[0021] Preferably, the motion control system adopts an integrated controller to realize motion control of three-axis displacement and three-axis attitude through field bus technology.

[0022] According to the large-load high-precision pose adjustment device of the above aspect of the present application, under the working condition of bearing high load, six degrees of freedom of manual or automatic precise adjustment of two-dimensional centering displacement, high-low displacement, pitch attitude, roll attitude and yaw attitude can be provided according to the adjustment needs of the load, and the device has high positioning precision, compact structure and large bearing capacity. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings:

[0024] Figure 1 is a general structure diagram of the large-load high-precision pose adjustment device of an embodiment of the present application;

[0025] Figure 2 is a structure diagram of the X-direction / Y-direction drive assembly of an embodiment of the present application;

[0026] Figure 3 is a structure diagram of the X-direction / Y-direction grating measurement assembly of an embodiment of the present application;

[0027] Figure 4 is a structure diagram of the parallel high-low attitude adjustment component of an embodiment of the present application;

[0028] Wherein: 1-rotation adjustment component, 2-two-dimensional displacement adjustment component, 3-parallel high-low attitude adjustment component, 4-rotation fixed base, 5-outer tooth type cross roller slewing bearing, 6-driving motor assembly, 8-rotation limiting assembly, 9-rotation adjustment table, 10-first servo motor, 11-reducer, 12-gear, 13-X direction guide rail, 15-X direction grating measurement assembly, 16-X direction limiting assembly, 17-Y direction rail support table, 18-Y direction guide rail, 19-Y direction driving assembly, 22-top mounting table, 23-second servo motor, 25-motor mounting seat, 27-screw rod fixed mounting seat, 28-screw rod, 30-screw rod nut seat, 31-screw rod support seat, 32-reading head, 33-grating ruler, 34-grating ruler mounting seat, 35-reading head adjusting seat, 36-reading head mounting seat, 37-heavy vertical lifting adjustment component, 38-load mounting assembly, 39-lifting driving motor, 40-lifting driving reducer, 41-connector, 42-turbine worm reducer, 43-lifting nut, 44-lifting beam, 45-turbine worm driving assembly, 46-precision guide assembly, 47-vertical grating assembly, 48-vertical limiting assembly, 49-precision guide shaft, 50-lead 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] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions will be described below in connection with the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0030] The embodiments of the present application provide a large-load high-precision pose adjustment device. Figure 1 As shown in the figure, the large-load high-precision pose adjustment device of the embodiments of the present application comprises a rotation adjustment component 1, a two-dimensional displacement adjustment component 2, a parallel high-low attitude adjustment component 3 and a motion control system.

[0031] The rotation adjustment component 1 is located at the bottom layer of the whole 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 high-low attitude adjustment component 3 is located above the two-dimensional displacement adjustment component 2, and is used to mount the load and realize the high-low displacement adjustment of the load along the vertical Z axis and the rotation angle adjustment of the load around the X axis and the Y axis; and the motion control system is used to realize the motion control and position display of the three-axis displacement and three-axis attitude.

[0032] The rotation adjustment component includes a rotation fixed base 4, an outer tooth type cross roller slewing bearing 5, a driving motor assembly 6, a rotation angle measurement assembly, a rotation limiting assembly 8, and a rotation adjustment platform 9.

[0033] The rotation fixed base 4 is installed on a horizontal base surface, and the top surface is used for installing the outer tooth type cross roller slewing bearing 5, the rotation angle measurement assembly, and the rotation limiting assembly 8; the outer tooth type cross roller slewing bearing 5 is composed of two seat rings of an inner ring and an outer ring, and is used for providing slewing guidance and gear driving; the rotation adjustment platform 9 is installed on the top surface of the inner ring of the outer tooth type cross roller slewing bearing 5, and two driving motor assemblies 6 are installed at opposite angles; the driving motor assembly 6 includes a first servo motor 10, a speed reducer 11, and a gear 12, the gear 12 is driven to rotate around the slewing bearing 5 by the first servo motor 10, and is used for realizing rotation angle adjustment of the rotation adjustment platform 9 and the load above; the double-motor driving mode can increase the torque and eliminate the imbalance of the single-point driving torque; the rotation angle measurement assembly is installed at the center position of the rotation fixed base 4, the rotating shaft thereof is connected with the rotation adjustment platform 9 above, is used for high-precision angle measurement of the Z-axis and full-closed-loop feedback of double-servo motor motion control, and realizes high-precision positioning; the rotation limiting assembly 8 is used for limiting the rotation motion angle, and prevents problems such as pulling lines caused by exceeding the limited angle range.

[0034] The rotation adjustment platform 9 is provided with a linear guide rail installation positioning platform on the top surface, and is used for installing the guide rails of the two-dimensional displacement adjustment component 2; the bottom surface is provided with a boss for positioning with the inner ring of the outer tooth type cross roller slewing bearing 5, and the center of the boss is further provided with a recess hole for connecting the rotation angle measurement assembly.

[0035] The rotation angle measurement assembly adopts an absolute angle encoder, the mounting seat of the angle encoder is installed on the rotation adjustment platform 9 through a flange, and the concentricity with the rotation adjustment platform 9 is ensured through the outer shaft below the flange.

[0036] The two-dimensional displacement adjustment component 2 includes an X-direction guide rail 13, an X-direction driving assembly, an X-direction grating measurement assembly 15, an X-direction limiting assembly 16, a Y-direction rail support platform 17, a Y-direction guide rail 18, a Y-direction driving assembly 19, a Y-direction grating measurement assembly, a Y-direction limiting assembly, and a top installation platform 22, and is used for realizing two-dimensional displacement adjustment of the load in the horizontal plane.

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

[0038] As shown in Figure 2 , the X direction / Y direction driving assembly includes a second servo motor 23, a motor mounting seat 25, a screw fixing mounting seat 27, a screw 28, a screw nut seat 30, and a screw support seat 31; the motor mounting seat 25, the screw fixing mounting seat 27, and the screw support seat 31 of the X direction driving assembly are fixedly installed on the top surface of the rotary adjustment table 9, the screw nut seat 30 is fixedly connected with the upper Y guide rail support table 17, and the screw nut seat 30 drives the Y guide rail support table 17 and the load above to move along the X axis under the drive of the second servo motor 23; the motor mounting seat 25, the screw fixing mounting seat 27, and the screw support seat 31 of the Y direction driving assembly 19 are fixedly installed on the top surface of the Y guide rail support table 17, the screw nut seat 30 is fixedly connected with the upper top mounting table 22, and the screw nut seat 30 drives the top mounting table 22 and the load above to move along the Y axis under the drive of the second servo motor 23.

[0039] As shown in Figure 3 , the X direction / Y direction grating measurement assembly includes a reading head 32, a grating ruler 33, a grating ruler mounting seat 34, a reading head adjusting seat 35, and a reading head mounting seat 36; the reading head adjusting seat 34 is used to adjust the gap between the reading head 32 and the grating ruler 33; the X direction grating ruler mounting seat is fixedly installed on the top surface of the rotary adjustment table 9, and the X direction reading head mounting seat is fixedly installed on the bottom surface of the Y guide rail support table and moves with it; the Y direction grating ruler mounting seat is fixedly installed on the top surface of the Y guide rail support table, and the Y direction reading head mounting seat is fixedly installed on the bottom surface of the guide rail support table and moves with it.

[0040] The X-direction guide rail 13 is installed between the rotary adjustment table 9 and the Y-direction guide rail support table 17, and is used to realize the X-direction guiding of the Y-direction guide rail support table 17; the Y-direction guide rail 18 is installed between the Y-direction guide rail support table 17 and the top mounting table 22, and is used to realize the Y-direction guiding of the top mounting table 22.

[0041] As shown in Figure 4 The parallel high-low attitude adjustment component 3 includes four heavy vertical lifting adjustment components 37 and a load mounting assembly 38, the four heavy vertical lifting adjustment components 37 cooperatively realize the lifting position and the pitch, roll attitude adjustment of a 20-ton load on the load mounting assembly 38; when the four heavy vertical lifting adjustment components 37 synchronously and in the same direction rise or synchronously and in the same direction descend, the load can be adjusted in the vertical Z-axis high-low displacement; when only the opposite two heavy vertical lifting adjustment components 37 synchronously and in the opposite direction move, the load can be adjusted in the pitch or roll attitude.

[0042] The heavy vertical lifting adjustment component 37 includes a lifting beam 44, a worm gear driving assembly 45, a precision guide assembly 46, a vertical grating assembly 47, and a vertical limiting assembly 48.

[0043] The worm gear driving assembly 45 includes a lifting driving motor 39, a lifting driving reducer 40, a connecting piece 41, a worm gear reducer 42, and a lifting nut 43, mainly provides driving lifting force for load lifting and attitude adjustment; the lifting driving motor 39 and the lifting driving reducer 40 are connected, and are suspendedly 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 table 22, and the lifting nut 43 is fixedly connected with the upper lifting beam 44; the lifting driving motor 39 can realize large torque output through the lifting driving reducer 40 and the worm gear reducer 42; the lifting beam 44 can move up and down under the action of the worm gear driving assembly 45, so as to realize the precise adjustment of the load roll attitude, the pitch attitude and the high-low position.

[0044] The precision guide assembly 46 is installed on both sides of the worm gear driving assembly 45, mainly includes a precision guide shaft 49, a graphite brass guide sleeve 50, a guide sleeve mounting base 51 and other components; the lifting beam 44 is driven to rotate by the servo motor under the cooperation of the precision guide shaft 49 and the graphite brass sleeve 50, so as to realize the lifting movement of the lifting nut 43.

[0045] The load mounting assembly 38 comprises a bearing base 52, a ball head seat 53, a ball head guide seat 54 and a lifting beam ball head mounting seat 55; the ball head seat 53 can solve the problem of transverse displacement of the bearing base 52 caused by rotation of the bearing base 52 around the center after moving up and down on the two opposite sides when adjusting the roll or pitch; after the ball head seat 53 is installed on the ball head guide seat 54, the ball head can slide while moving in the lifting beam 44, thereby solving the problem of mechanical inclination displacement during attitude adjustment.

[0046] The vertical grating assembly 47 comprises a grating ruler, a grating ruler mounting seat, a reading head adjusting seat and a reading head mounting seat, and is used for realizing high-precision measurement of vertical displacement of each turbine worm drive assembly and full-closed-loop feedback of lifting motion control, and realizing high-precision positioning.

[0047] The vertical limiting assembly 48 is used for limiting the range of vertical lifting, and comprises a vertical limiting trigger seat, a vertical limiting switch and a vertical limiting switch mounting seat; the vertical limiting trigger seat is installed on the lifting beam 44 moving up and down, and the vertical limiting switch mounting seat is installed on the relatively fixed top mounting table 22; the direct distance is accurately designed to ensure the movement range of ±30 mm.

[0048] The motion control system adopts an integrated controller to realize motion control of three-axis displacement and three-axis attitude through field bus technology, and through 8 groups of servo systems, the controllable rotating shafts include one rotating shaft, two horizontal displacement shafts and four vertical lifting shafts.

[0049] The large-load high-precision position and attitude adjusting device has the following beneficial effects:

[0050] (1) The device has high positioning accuracy and large bearing capacity; under the working condition of a bearing height of 2 m and a weight of 20 tons, the positioning accuracy of three-dimensional displacement in a movement range of ±30 mm can reach ±10 microns, the positioning accuracy of roll and pitch attitude in a movement range of ±1° can reach ±0.02°, and the positioning accuracy of yaw attitude in a movement range of ±30° can reach ±0.01°.

[0051] (2) The device integrates the pitch attitude and roll attitude adjustment into the high-low displacement adjustment mechanism, and compared with three independent structure schemes, the whole adjusting device is more compact.

[0052] (3) The device adopts a layered design, and the servo drive assembly and the grating feedback assembly are installed on the two sides of the structure, so that maintenance is convenient.

[0053] The foregoing merely illustrates some exemplary embodiments of the application, and no doubt numerous modifications and alterations thereto will be apparent to those skilled in the art. Accordingly, the above description is intended for purposes of illustration only and should not be construed as limiting the scope of the application.

Claims

1. A high-precision posture adjustment device with a large load capacity, characterized in that: Including rotation adjustment components, two-dimensional displacement adjustment components and parallel height adjustment components, The rotation adjustment component is located at the bottom 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 adjust the height displacement of the load along the vertical Z axis and the rotation angle around the X and Y axes; The parallel height adjustment component includes four heavy-duty vertical lifting adjustment components and a load mounting assembly. The four heavy-duty vertical lifting adjustment components are used to collaboratively achieve the lifting position and pitch and roll attitude adjustment of the load mounted on the load mounting assembly. When the four heavy-duty vertical lifting adjustment components move synchronously in the same direction of ascent or descent, the height displacement adjustment of the load along the vertical Z axis can be achieved. When two opposite heavy-duty vertical lifting adjustment components move synchronously in opposite directions, the pitch or roll attitude adjustment of the load can be achieved. 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; 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 measurement component and the rotation limit component; the external gear cross roller slewing bearing is used to provide rotation guide and gear drive; the rotation 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 rotation adjustment table and the upper load; the rotation angle measurement assembly is installed at the center position of the rotating fixed base, and its rotating shaft is connected to the upper rotation adjustment table 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.

2. The posture adjustment device according to claim 1, wherein: The top surface of the rotary adjustment platform is provided with a linear guide rail mounting 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 base of the angle encoder is mounted on the rotation adjustment platform through a flange, and the outer shaft under the flange is used to ensure concentricity with the rotation adjustment platform.

3. The posture adjustment device according to claim 1 or 2, 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-axis guide rail is mounted above the rotary adjustment stage and connected to the Y-axis guide rail support platform via a precision guide rail slider. The X-axis drive assembly is mounted on the side of the rotary adjustment stage to achieve X-axis motion of the Y-axis guide rail support platform. The X-axis grating measurement assembly is mounted on the other side of the rotary adjustment stage to provide high-precision X-axis displacement measurement and full closed-loop feedback for motion control of the X-axis drive assembly. 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-axis drive assembly is installed on the side of the Y-guide rail support platform to realize the movement of the Y-axis support platform along the Y-axis; the Y-axis grating measurement assembly is installed on the other side of the Y-guide rail support platform for high-precision measurement of Y-axis displacement and full closed-loop feedback of Y-axis drive assembly motion control; the X-axis and Y-axis limit assemblies are used to limit the range of two-dimensional motion in the horizontal plane.

4. The posture adjustment device according to claim 3, characterized in that The X-axis and Y-axis drive components include a second servo motor, a motor mounting seat, a screw fixing mounting seat, a screw, a screw nut seat, and a screw support seat; The motor mounting seat, screw fixed mounting seat and 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 Y-guide rail support table above. Driven by the second servo motor, the screw nut seat drives the Y-guide rail support table and the upper load to adjust the displacement along the X-axis. The motor mounting seat, screw fixed mounting seat and screw support seat of the Y-axis drive assembly are fixedly installed on the top surface of the Y-guide rail support platform. The screw nut seat is fixedly connected to the top mounting platform above. Driven by the second servo motor, the screw nut seat drives the top mounting platform and the upper load to adjust the displacement along the Y-axis.

5. The posture adjustment device according to claim 3, wherein: 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 rotary adjustment platform, and the X-axis reading head mounting seat is fixed to the bottom surface of the Y-axis guide rail support platform and moves with it; the Y-axis grating scale mounting seat is fixed to the top surface of the Y-axis guide rail support platform, and the Y-axis reading head mounting seat is fixed to the bottom surface of the guide rail support platform and moves with it.

6. The posture adjustment device according to claim 3, characterized in that: The X-guide 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 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.

7. The posture adjustment device according to claim 1 or 2, characterized in that: The heavy-duty vertical lifting and adjustment component includes 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.

8. The posture adjustment device according to claim 7, 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 and the lifting drive reducer are connected and fixed in the air 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.

9. The posture adjustment device according to claim 1 or 2, characterized in that: The invention also includes a motion control system, which adopts an integrated controller to realize motion control of three-axis displacement and three-axis posture through field bus technology.

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