A large load space pose adjustment device

Abstract

The present application relates to the technical field of precision machinery positioning, and discloses a large-load space pose adjusting device, which comprises a support part movable along the Z-axis direction, three ball-type positioning members and a stop block. The support part has three support columns that can be independently adjusted in the Z direction and are arranged in a triangular layout. Radial sliding grooves with double-inclined positioning surfaces are formed in the upper ends of the support columns, and can form double-point contact cooperation with the ball-type positioning members pre-installed on the parts. The extension directions of the three sliding groove positioning surfaces are different, and can determine the unique attitude of the natural static state of the parts. The Z-direction adjustable jack screw on the stop block can break the unstable state of the ascending process of the parts, and assist in aligning the unique attitude. The present application does not need additional locking structures, can realize the power-free centering of the parts and the accurate adjustment of the space pose, improve the repeated positioning accuracy, and is suitable for large-load high-frequency switching working conditions.

Description

Technical Field

[0001] This invention relates to the field of precision mechanical positioning technology, and specifically to a large-load spatial posture adjustment device. Background Technology

[0002] In fields such as precision machinery and heavy equipment manufacturing, the assembly and inspection of heavy-load parts often involve multiple processes, requiring the parts to be switched between non-tooling and tooling states multiple times. In addition, the tooling state often requires adjustment of the determined position and posture of the parts. The accuracy and efficiency of the part position and posture adjustment directly determine the final processing quality and production efficiency.

[0003] Currently, the mainstream approach in the industry for adjusting the pose of heavy-load components is to use a dynamic structure with stacked sliders and multiple axes in series. This involves fixing the component to the working end of the mechanism using bolts, clamps, and other locking devices to achieve a basic pose, followed by dynamic position and angle adjustment to achieve the desired pose. However, this approach has significant drawbacks: firstly, the locking and unlocking process of bolts and clamps is cumbersome, resulting in low efficiency in switching component states; secondly, after repeated disassembly and assembly, the locking structure and positioning components are prone to wear and misalignment, requiring frequent and repeated adjustments, increasing the frequency of pose adjustments and further reducing efficiency.

[0004] In summary, existing spatial orientation adjustment devices for heavy-load parts struggle to balance the efficiency of part orientation adjustment while meeting accuracy requirements, especially when the parts need to switch between non-tooled and tooled states multiple times. Summary of the Invention

[0005] The purpose of this invention is to provide a large-load spatial pose adjustment device to solve the technical problem that existing large-load spatial pose adjustment devices for parts are difficult to balance the efficiency of part pose adjustment while meeting accuracy requirements when the parts need to switch between non-tooling and tooling states multiple times.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0007] This invention provides a large-load spatial pose adjustment device, comprising: a support part movable in the Z-axis direction, having three support columns spaced apart to form a triangular layout; a radially formed groove on the upper end of each support column, with a pair of inclined positioning surfaces on both sides of the groove; and a spherical positioning component, having three components pre-installed on parts, each corresponding to one of the three support columns, wherein the surface extension directions of the positioning surfaces of the three grooves are different, so as to ensure that the spherical positioning... When the part is placed in the slide, it has a unique posture under natural stillness. A stop block, fixed to the external support structure, is provided with a first set screw that can adjust its height along the Z-axis. The bottom end of the first set screw can contact the surface of the part in the tilted state to break the instability caused by inertia or frictional resistance during the part's ascent with the support column, thereby aligning it with the unique posture under natural stillness. The three support columns are configured to be able to adjust their positions independently in the Z-axis direction, so that the position and angle of the common center determined by the three spherical positioning components change, thereby adjusting the spatial pose of the part.

[0008] According to one embodiment of the present invention, the stop block is provided with a second set screw whose position can be adjusted in the horizontal direction. The second set screw can abut against the side wall of the first set screw to lock the axial position of the first set screw.

[0009] According to one embodiment of the present invention, the support further includes: a mounting plate on which the support column is mounted; a lifting plate located on the side of the mounting plate away from the stop; an XY axis adjustment mechanism mounted on the lifting plate and capable of acting on the mounting plate to adjust the position of the mounting plate relative to the lifting plate in the XY axis direction; and a Z-axis pressing mechanism that allows the mounting plate and the lifting plate to switch between a pressing state and a depressurized state along the Z-axis direction to lock or allow adjustment of the relative position of the mounting plate and the lifting plate in the XY axis direction.

[0010] According to one embodiment of the present invention, the Z-axis pressing mechanism includes a first screw with a nut, a screw hole that is threadedly connected to the first screw is provided at the bottom of the mounting plate, and a through hole with a diameter larger than the screw hole is provided on the lifting plate. The through hole and the screw hole are positioned one-to-one. The first screw passes through the through hole. In the pressing state, the nut abuts against the lifting plate and exerts a force on the lifting plate toward the mounting plate.

[0011] According to one embodiment of the present invention, the XY axis adjustment mechanism includes: a top block, mounted on the bottom of the mounting plate, extending to the underside of the lifting plate through a clearance opening provided on the lifting plate, and having at least one abutting surface in each of the four directions of the XY axis; and a third top screw, threaded to the lifting plate, capable of axially feeding to abut the abutting surface.

[0012] According to one embodiment of the present invention, a locking nut capable of locking the axial position of the third set screw is installed on the third set screw.

[0013] According to one embodiment of the present invention, a reinforcing rib is installed at the bottom of the lifting plate, and the third set screw is threadedly connected to the reinforcing rib.

[0014] According to one embodiment of the present invention, the support column is height-adjustably mounted on the mounting plate, the mounting plate has mounting holes that fit with the support column with clearance, the bottom of the support column has a base with a diameter larger than the support column, the base is fixedly connected to the mounting plate by a second screw, and a compensation shim is detachably provided between the base and the mounting plate.

[0015] According to one embodiment of the present invention, a guide assembly for guiding the lifting plate to move up and down is further included. The guide assembly includes a guide rod fixed to an external support structure. The axis of the guide rod is arranged along the Z-axis direction. A support seat is mounted on the lifting plate. The support seat slides with the guide rod through a mating hole formed thereon.

[0016] According to one embodiment of the present invention, a servo electric cylinder is further included for providing lifting power to the lifting plate. The servo electric cylinder is fixedly connected to an external support structure, and the output shaft of the servo electric cylinder is abutted or floatingly connected to the bottom of the lifting plate.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] Three sets of one-to-one corresponding support columns and spherical positioning components work together, using six inclined positioning surfaces and three spherical positioning components to determine a unique common center, giving the part a unique posture in a natural static state, thus meeting the basic requirement of rapid posture determination. The three support columns are independently adjustable in the Z-axis direction to change the position angle of the common center and adjust the part's posture. The first set screw breaks the instability during the part's lifting and lowering process in the Z-axis direction, overcoming inertia and resistance to assist in the part's alignment. There is no need for complex disassembly and assembly of the part. While meeting the positioning accuracy, it also takes into account the adjustment efficiency, adapting to the needs of high-load parts that switch between non-tooling and tooling states multiple times. Attached Figure Description

[0019] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0020] Figure 1 This is a three-dimensional illustration of the present invention. Figure 1 .

[0021] Figure 2 This is a three-dimensional schematic diagram of the mounting plate and support column of the present invention in conjunction with the spherical positioning component.

[0022] Figure 3 This is a three-dimensional schematic diagram of the spherical positioning component of the present invention pre-installed at the bottom of the part.

[0023] Figure 4 This is a three-dimensional schematic diagram of the support column and the spherical positioning component of the present invention.

[0024] Figure 5 This is a bottom view diagram of the present invention.

[0025] Figure 6 for Figure 5 Sectional view along the AA direction.

[0026] Figure 7 This is a three-dimensional illustration of the present invention. Figure 2 .

[0027] Figure 8 This is a partial three-dimensional schematic diagram of the present invention.

[0028] Figure 9 for Figure 8 A three-dimensional exploded diagram.

[0029] Figure 10 This is a schematic diagram showing the state of the support column height relative to the mounting plate when the height of the support column of the present invention is adjusted.

[0030] Figure 11 This is a side view of the stop block of the present invention.

[0031] Figure 12 This is a side view of the spherical positioning component and the support column of the present invention.

[0032] The labels in the diagram represent the following:

[0033] 100. Parts; 1. Support column; 110. Slide groove; 111. Positioning surface; 11. Base; 12. Compensating shim; 13. Second screw; 2. Spherical positioning component; 31. Stop block; 32. First set screw; 33. Second set screw; 4. Mounting plate; 41. Screw hole; 5. Lifting plate; 51. Through hole; 52. Reinforcing rib; 53. Guide rod; 54. Support base; 6. First screw; 61. Nut; 7. Top block; 8. Third set screw; 81. Locking nut; 9. Servo electric cylinder. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] like Figures 1-12 As shown, the present invention provides a large-load spatial pose adjustment device, comprising:

[0036] The support section is movable in the Z-axis direction and has three support columns 1. The three support columns 1 are spaced apart to form a triangular layout (to evenly distribute the weight of the heavy load part 100 and avoid stress concentration in a single part).

[0037] The upper end of the support column 1 is provided with a radial groove 110. The two sides of the groove 110 form a pair of inclined positioning surfaces 111 (the overall shape is basically V-shaped). When the groove 110 is placed into the ball, the ball has only one contact point with each of the two positioning surfaces 111.

[0038] There are three spherical positioning components 2, which can be pre-installed on the part 100 and correspond one-to-one with the three support columns 1. The positioning surfaces 111 of the three slides 110 have different extension directions, so that when the spherical positioning component 2 is placed in the slide 110, the part 100 has a unique posture in a natural static state (i.e., completes the positioning of six degrees of freedom in space).

[0039] The stop block 31 is fixed to the external support structure. The stop block 31 is provided with a first set screw 32 that can be adjusted in height along the Z-axis. The bottom end of the first set screw 32 can contact the surface of the part 100 in the tilted state to break the unstable state of the part 100 caused by inertia or frictional resistance during the rise of the support column 1, and thus correct it to the only posture under natural stillness. Specifically, the adjustment of the Z-axis height position of the part 100 depends on the height adjustment of the three support columns 1 and the adjustment of the lifting stroke of the entire support (the Z-axis height is not an indispensable parameter for determining the spatial posture. When the processing and inspection position is set along the Z-axis direction, the Z-axis height of the part 100 is only optional). The real function of the first set screw 32 is to "correct" the part 100 through contact during the lifting process.

[0040] The three support columns 1 are configured to be able to adjust their positions independently in the Z-axis direction so that the position and angle of the common center determined by the three spherical positioning elements 2 change, thereby adjusting the spatial pose of the part 100.

[0041] Assembly preparation stage: First, fix the three spherical positioning parts 2 to the bottom of the part 100 to be positioned according to the preset position, and complete the pre-installation positioning of the support column 1, the stop block 31, and the first set screw 32 to ensure that the sliding groove 110 of the three support columns 1 corresponds one-to-one with the position of the spherical positioning parts 2. (The pre-installation positioning process can be assisted by optical positioning and clamping to keep the part 100 in the required spatial posture state first, and then adjust the height of the three support columns 1 to adapt to the three spherical positioning parts 2 that have been fixed on the part 100, and set the lifting stroke of the entire support part, so that the spatial posture of the part 100 on the support column 1 is consistent after multiple pick-ups and drops.)

[0042] Rotate the first set screw 32 to adjust its bottom height so that the first set screw 32 abuts against the upper surface of the part 100 (or use a feeler gauge with a 0.05mm gap to further reduce damage to the part 100 in subsequent processes; as mentioned earlier, the function of the first set screw 32 is not to "press hard," but to "push gently" the part 100 to break its unstable spatial posture). Then control the entire support to move down to allow the part 100 to be placed in.

[0043] During the execution phase: Part 100 with pre-installed spherical positioning component 2 is hoisted above support column 1. Part 100 is lowered so that spherical positioning component 2 enters the corresponding slide groove 110. Relying on its own weight, spherical positioning component 2 is made to fit with the positioning surfaces 111 on both sides of slide groove 110. The support part is raised so that part 100 rises with support column 1. Part 100 in an inclined state (unstable state) will contact the first set screw 32. Part 100 changes from a relatively static state with support column 1 to a relatively sliding state. The three spherical positioning components 2 slide in the slide grooves of their respective support columns 1 until each spherical positioning component 2 contacts the two inclined positioning surfaces 111, completing the six-point positioning and determining the spatial pose of part 100.

[0044] Position adjustment stage: Adjust the relative height of the three support columns 1 and the lifting stroke of the support part according to the required new spatial position, and adjust the height of the first set screw 32 accordingly.

[0045] This solution uses a triangular support column 1 and a spherical positioning component 2 to form a six-point positioning structure. No additional bolt locking structure is required. The component 100 can achieve automatic centering relative to the entire support by its own weight, which greatly simplifies the disassembly and assembly process of the heavy-load component 100. The Z-axis movable support, combined with the adjustable first set screw 32, enables precise adjustment of the Z-axis posture of the component 100. This solves the core problems of coupling of degrees of freedom and high adjustment difficulty in the posture adjustment of traditional mechanisms. At the same time, it ensures high repeatability positioning accuracy of the component 100 after multiple state switching from a geometric perspective.

[0046] like Figure 11 As shown, the aforementioned basic solution has effectively solved the core problem of efficient attitude determination and position adjustment of the heavy load part 100. However, in actual implementation, there is still a potential technical problem that the first set screw 32 is easily affected by vibration and load impact after adjustment, which causes it to rotate and lead to the decay of Z-axis positioning accuracy. In order to solve this problem, the locking structure of the stop block 31 and the first set screw 32 is specifically optimized.

[0047] The stop block 31 is provided with a second set screw 33 that can be adjusted in the horizontal direction. The second set screw 33 can abut against the side wall of the first set screw 32 to lock the axial position of the first set screw 32 (the lateral tightening force eliminates the thread pair clearance and prevents the first set screw 32 from rotating).

[0048] After the first set screw 32 is rotated to the target height, the second set screw 33 is rotated horizontally so that the end of the second set screw 33 smoothly abuts against the side wall of the first set screw 32. The lateral clamping force generated by the thread feed rigidly locks the position of the first set screw 32. After locking, the axial position of the first set screw 32 is checked. After confirming that there is no deviation, normal working conditions can be entered.

[0049] This optimized solution achieves Z-axis positioning adjustment through the threaded structure of the first set screw 32, and reliably locks the axial position of the first set screw 32 through the laterally set second set screw 33. This effectively avoids the problem of the first set screw 32's self-rotation offset caused by equipment vibration and large load impact, ensuring the long-term stability of the Z-axis positioning of part 100. Based on the core advantages of the aforementioned basic solution, it further improves the positioning accuracy retention and working condition reliability of the device.

[0050] The aforementioned basic solution has achieved Z-axis pose adjustment based on the efficient orientation and pose adjustment of the heavy load part 100. However, in actual implementation, the part 100 sometimes needs to make precise adjustments to its pose in the XY plane to compensate for processing and installation errors. To solve this problem, the structure of the support part is optimized.

[0051] The support section also includes:

[0052] Mounting plate 4, support column 1 is installed on mounting plate 4 (to provide a unified installation reference for the three support columns 1 and ensure relative position accuracy).

[0053] The lifting plate 5 is located on the side of the mounting plate 4 away from the stop block 31 (providing a stable mounting carrier for the mounting plate 4 and the adjustment mechanism).

[0054] The XY axis adjustment mechanism is installed on the lifting plate 5 and can act on the mounting plate 4 to adjust the position of the mounting plate 4 relative to the lifting plate 5 in the XY axis direction (to achieve independent and precise adjustment of the pose of part 100 in the XY plane).

[0055] The Z-axis pressing mechanism allows the mounting plate 4 and the lifting plate 5 to switch between a pressing state and a depressing state along the Z-axis, so as to lock or allow adjustment of the relative position of the mounting plate 4 and the lifting plate 5 in the XY-axis direction (achieving rigid locking after XY-axis pose adjustment).

[0056] When it is necessary to adjust the XY plane position of part 100, first release the pressing and locking state of the Z-axis pressing mechanism to release the XY direction movement freedom of the mounting plate 4 relative to the lifting plate 5; drive the mounting plate 4 to move to the target position in the XY plane through the XY axis adjustment mechanism; after confirming that the position meets the requirements, switch the Z-axis pressing mechanism to the pressing and locking state to make the mounting plate 4 and the lifting plate 5 rigidly fixed, thus completing the adjustment and locking of the XY direction position.

[0057] This optimized solution, through the split mounting plate 4 and lifting plate 5 structure, combined with the XY axis adjustment mechanism and the Z-axis pressing mechanism, achieves independent and precise adjustment of the XY plane pose of part 100, completely decoupled from the Z-axis pose adjustment, avoiding the repeated adjustment problem caused by multi-degree-of-freedom coupling, and significantly reducing the operational difficulty of pose adjustment; at the same time, it can effectively compensate for the processing and installation errors of part 100 and mechanism, and further expands the pose adjustment dimension and working condition adaptability of the device on the core advantages of the aforementioned basic solution.

[0058] The aforementioned basic solution has effectively solved the core requirements of XY-axis adjustment and locking of mounting plate 4 and lifting plate 5. However, in actual implementation, there are still potential technical problems such as complex pressing and locking structure and uneven locking force causing mounting plate 4 to deflect. To solve this problem, the specific structure of the Z-axis pressing mechanism is specifically optimized.

[0059] The Z-axis pressing mechanism includes a first screw 6 with a nut 61. The bottom of the mounting plate 4 is provided with a screw hole 41 that is threaded to the first screw 6. The lifting plate 5 is provided with a through hole 51 with a diameter larger than the screw hole 41. The through hole 51 and the screw hole 41 are positioned one-to-one. The first screw 6 passes through the through hole 51. In the pressing state, the nut 61 abuts against the lifting plate 5, generating a force on the lifting plate 5 toward the mounting plate 4 (the frictional locking between the mounting plate 4 and the lifting plate 5 is achieved through axial preload).

[0060] During assembly, the first screw 6 is passed through the through hole 51 of the lifting plate 5 from top to bottom and pre-connected with the screw hole 41 at the bottom of the mounting plate 4 to ensure that the first screw 6 can move in the XY direction with the mounting plate 4 within the gap range of the through hole 51. When locking is required, the first screw 6 is tightened diagonally in stages so that the nut 61 is pressed against the lower surface of the lifting plate 5. The axial preload makes the mounting plate 4 and the lifting plate 5 fit tightly together, and the rigid locking is completed by the friction of the contact surface. When adjustment is required, all the first screws 6 are loosened at the same time to release the axial preload and release the XY degree of freedom.

[0061] This optimized solution provides a structural basis for XY-axis adjustment through the clearance fit between the through hole 51 and the screw hole 41. The axial preload of the first screw 6 is used to achieve Z-axis pressing and friction locking. The adjustment structure and locking structure are integrated into one design, eliminating the need for additional locking components and simplifying the overall structure. The diagonal step-by-step tightening method ensures uniform distribution of locking force, preventing the mounting plate 4 from tilting due to uneven force, thus ensuring the positional accuracy after XY-axis adjustment. Based on the aforementioned solution, the reliability and ease of operation of the locking structure are further improved.

[0062] The aforementioned basic solution has effectively solved the core requirement of XY axis adjustment of mounting plate 4. However, in actual implementation, there are still potential technical problems such as insufficient XY axis adjustment accuracy and uneven force transmission causing mounting plate 4 to wobble. To solve this problem, the specific structure of the XY axis adjustment mechanism is specifically optimized.

[0063] The XY axis adjustment mechanism includes:

[0064] The top block 7 is installed at the bottom of the mounting plate 4 and extends to the bottom of the lifting plate 5 through the clearance opening on the lifting plate 5. It has at least one abutment surface in each of the four directions of the XY axis (providing a precise force reference for XY direction adjustment and ensuring uniform transmission of adjustment force).

[0065] The third set screw 8 is threaded to the lifting plate 5 and can feed axially to abut the contact surface (achieving micron-level precise adjustment in the XY direction through threaded axial feeding).

[0066] When it is necessary to adjust the positive X-axis position of the mounting plate 4, first loosen the third set screw 8 in the negative X-axis direction, and then rotate the third set screw 8 in the positive X-axis direction so that it feeds axially to abut the corresponding abutment surface of the top block 7, pushing the mounting plate 4 to move smoothly in the positive X-axis direction; when it is necessary to adjust the Y-axis position, the same operating logic is used to complete the feed adjustment; after the adjustment is completed, tighten the third set screws 8 in all four X and Y directions to abut the corresponding abutment surfaces of the top block 7 to form an omnidirectional constraint.

[0067] This optimized solution achieves micron-level precise adjustment in the XY axis direction through the cooperation of the top block 7 and the third set screw 8, utilizing the axial feed characteristics of the thread. The four abutment surfaces of the top block 7 ensure the uniform transmission of adjustment force, preventing the mounting plate 4 from swaying due to uneven force. The clearance on the lifting plate 5 provides ample space for the movement of the top block 7, without restricting the adjustment stroke. Based on the aforementioned solution, the accuracy and stability of XY axis posture adjustment are further improved.

[0068] The aforementioned basic solution has effectively solved the core requirement of precise adjustment in the XY direction. However, in actual implementation, there is still a potential technical problem that the third set screw 8 is susceptible to vibration and load impact after adjustment, which may cause it to rotate and lead to positional deviation in the XY direction. To solve this problem, the anti-loosening structure of the third set screw 8 is specifically optimized.

[0069] The third set screw 8 is equipped with a locking nut 81 that can lock the axial position of the third set screw 8 (the locking force of the thread pair prevents the third set screw 8 from rotating and ensures the stability of the position after adjustment).

[0070] After the third set screw 8 is rotated to the target position, tighten the locking nut 81 so that the end face of the locking nut 81 is tightly against the outer wall of the lifting plate 5. Use the locking force between the threaded pairs to lock the rotation angle of the third set screw 8, thereby fixing the axial position of the third set screw 8. When it needs to be adjusted again, first loosen the locking nut 81, and then rotate the third set screw 8 to adjust the position.

[0071] This optimized solution achieves reliable anti-loosening locking of the axial position of the third set screw 8 by locking nut 81, effectively avoiding the problem of the third set screw 8's self-rotation offset caused by equipment vibration and large load impact, ensuring the long-term stability of the position after XY adjustment, and further improving the positioning accuracy retention and operational reliability of the device based on the aforementioned solution.

[0072] The aforementioned basic solution has effectively solved the core requirement of precise adjustment in the XY direction. However, in actual implementation, there is still a potential technical problem that the lifting plate 5 is prone to bending and deformation under heavy load conditions, which may lead to the offset of the installation position of the third set screw 8 and a decrease in adjustment accuracy. In order to solve this problem, the structure of the lifting plate 5 is specifically optimized.

[0073] The bottom of the lifting plate 5 is equipped with a reinforcing rib 52, and the third set screw 8 is threadedly connected to the reinforcing rib 52 (to increase the moment of inertia of the section of the lifting plate 5, enhance the bending stiffness, and at the same time provide a stable installation position for the third set screw 8).

[0074] This optimization scheme effectively increases the moment of inertia of the lifting plate 5 through the reinforcing rib 52, greatly enhances its bending stiffness, suppresses the bending deformation of the lifting plate 5 under heavy load conditions, and provides a stable mounting carrier for the third set screw 8, preventing the third set screw 8 from shaking due to the deformation of the lifting plate 5, improving the stability of the threaded connection and the accuracy of adjustment. Based on the aforementioned scheme, the structural strength and adjustment accuracy stability of the device are further improved.

[0075] The aforementioned basic solution has effectively solved the core requirement of XY and Z-axis pose adjustment of part 100. However, in actual implementation, there are still potential technical problems such as inconsistent height of slide 110 caused by the processing and installation errors of the three support columns 1, resulting in off-center loading and reduced centering accuracy of part 100. To solve this problem, the connection structure between support column 1 and mounting plate 4 is optimized.

[0076] The support column 1 is height-adjustably mounted on the mounting plate 4. The mounting plate 4 has mounting holes that fit the support column 1 with clearance. The bottom of the support column 1 has a base 11 with a diameter larger than that of the support column 1. The base 11 is fixedly connected to the mounting plate 4 by a second screw 13. A compensation shim 12 is detachably provided between the base 11 and the mounting plate 4 (the height of a single support column 1 can be precisely adjusted by adding or removing shims to compensate for processing and installation errors).

[0077] During assembly, the support column 1 is inserted into the corresponding mounting hole of the mounting plate 4, and the base 11 at the bottom of the support column 1 is pre-connected to the bottom surface of the mounting plate 4 by the second screw 13; the height of the sliding groove 110 of the three support columns 1 is measured by a level to determine the thickness of the compensation shim 12 required for each support column 1, and the compensation shim 12 of the corresponding thickness is installed in the gap between the base 11 and the bottom surface of the mounting plate 4. After adjusting the three sliding grooves 110 to be on the same reference plane, the second screw 13 is tightened to complete the fixation of the support column 1.

[0078] This optimized solution, through a clearance-fit installation structure and a removable compensation shim 12, achieves micron-level precise micro-adjustment of the height of a single support column 1, effectively compensating for the processing and installation errors of the support column 1 and the mounting plate 4. It ensures that the sliding grooves 110 of the three support columns 1 are always on the same reference plane, making the contact force between the part 100 and the three support columns 1 uniform. This avoids the problem of uneven load on the part 100 and reduced centering accuracy caused by inconsistent heights of the sliding grooves 110. Based on the aforementioned solution, it further improves the centering accuracy, load uniformity, and long-term stability of the device.

[0079] The aforementioned basic solution has effectively solved the core requirement of the support unit moving along the Z direction. However, in actual implementation, there is still a potential technical problem that the lifting plate 5 is prone to swaying and shaking when it moves up and down along the Z axis, which may cause the support column 1 and the spherical positioning part 2 to collide and wear. To solve this problem, a guide component is added for targeted optimization design.

[0080] It also includes a guide assembly for guiding the lifting plate 5 to rise and fall. The guide assembly includes a guide rod 53 fixed to the external support structure. The axis of the guide rod 53 is set along the Z-axis direction. A support seat 54 is installed on the lifting plate 5. The support seat 54 slides with the guide rod 53 through a mating hole (providing linear guidance for the Z-axis rise and fall of the lifting plate 5 and limiting the XY-axis sway).

[0081] During assembly, the guide rod 53 is vertically fixed to the external support structure along the Z-axis direction, and the support seat 54 is fixedly installed at the corresponding position of the lifting plate 5, so that the mating hole of the support seat 54 is coaxially mated with the guide rod 53, ensuring that the lifting plate 5 can move linearly up and down along the axis of the guide rod 53; depending on the size of the lifting plate 5 and the load, 2-4 sets of guide components can be set and symmetrically distributed along the center of the lifting plate 5.

[0082] This optimization scheme, through the linear constraint characteristics of the guide rod 53, restricts the sway and rotation of the lifting plate 5 in the XY axis direction, allowing it to move linearly only along the Z axis direction. This provides precise guidance for the Z-axis lifting of the lifting plate 5, ensuring the consistency of the support part's position after each lifting and lowering. It effectively avoids the collision and wear between the spherical positioning part 2 and the slide groove 110 caused by the sway during lifting and lowering. Based on the aforementioned scheme, it further improves the stability of the lifting motion and the service life of the core components.

[0083] The aforementioned basic solution has effectively solved the core requirement of Z-axis lifting and guiding of the lifting plate 5. However, in actual implementation, there are still potential technical problems such as low automation of Z-axis lifting of the lifting plate 5, insufficient accuracy of manual lifting, and high labor intensity. To solve this problem, a servo electric cylinder 9 is added for targeted optimization design.

[0084] It also includes a servo cylinder 9 for providing lifting power to the lifting plate 5. The servo cylinder 9 is fixedly connected to the external support structure, and the output shaft of the servo cylinder 9 is either abutted or floatingly connected to the bottom of the lifting plate 5 (providing stable and precise automated power for the lifting plate 5 to move Z-axis).

[0085] During assembly, the servo electric cylinder 9 is fixed to the external support structure, so that its output shaft is vertically upward along the Z-axis and abuts against the bottom center of the lifting plate 5 or is connected by floating. The lifting stroke, feed speed and start / stop position of the servo electric cylinder 9 are set by the servo control system to realize the automated and precise control of the Z-axis lifting of the lifting plate 5.

[0086] This optimized solution automates and precisely lifts the lifting plate 5 in the Z-axis direction using a servo electric cylinder 9, replacing the traditional manual lifting method, reducing the labor intensity of operators, and improving operating efficiency. The stroke control accuracy of the servo electric cylinder 9 can reach 0.01mm, ensuring the consistency of the lifting height of the support part and further improving the repeatability of the positioning of part 100. The floating connection design avoids the jamming problem caused by over-positioning from a structural perspective, improving the operational reliability of the device. Based on the aforementioned solution, the automation level and adaptability of the device are further improved.

[0087] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A large-load spatial pose adjustment device, characterized in that, include: The support part is movable in the Z-axis direction and has three support columns (1). The three support columns (1) are spaced apart to form a triangular layout. The upper end of the support column (1) is provided with a groove (110) along the radial direction. The two sides of the groove (110) form a pair of inclined positioning surfaces (111). When the groove (110) is set to be inserted into the ball, the ball has only one contact point with each of the two positioning surfaces (111). Three spherical positioning components (2) are available and can be pre-installed on the part (100), each corresponding to one of the three support columns (1). The surface extension directions of the positioning surfaces (111) of the three slides (110) are different, so that when the spherical positioning component (2) is placed in the slide (110), the part (100) has a unique posture under natural stillness. The stop block (31) is fixed to the external support structure. The stop block (31) is provided with a first set screw (32) that can adjust the height along the Z-axis. The bottom end of the first set screw (32) can contact the surface of the part (100) in the tilted state to break the unstable state of the part (100) caused by inertia or frictional resistance during the rise of the support column (1), and thus correct the only posture under the natural static state. The three support columns (1) are configured to be able to adjust their positions independently in the Z-axis direction so that the position and angle of the common center determined by the three spherical positioning elements (2) change, thereby adjusting the spatial pose of the part (100).

2. The large-load spatial pose adjustment device according to claim 1, characterized in that, The stop block (31) is provided with a second set screw (33) that can be adjusted in the horizontal direction. The second set screw (33) can abut against the side wall of the first set screw (32) to lock the axial position of the first set screw (32).

3. The large-load spatial pose adjustment device according to claim 1, characterized in that, The support portion also includes: Mounting plate (4), the support column (1) is mounted on the mounting plate (4); The lifting plate (5) is located on the side of the mounting plate (4) away from the stop (31); The XY axis adjustment mechanism is installed on the lifting plate (5) and can act on the mounting plate (4) to adjust the position of the mounting plate (4) relative to the lifting plate (5) in the XY axis direction; The Z-axis pressing mechanism enables the mounting plate (4) and the lifting plate (5) to switch between a pressing state and a depressing state along the Z-axis direction, so as to lock or allow adjustment of the relative position of the mounting plate (4) and the lifting plate (5) in the XY-axis direction.

4. The large-load spatial pose adjustment device according to claim 3, characterized in that, The Z-axis pressing mechanism includes a first screw (6) with a nut (61). The bottom of the mounting plate (4) is provided with a screw hole (41) that is threaded to the first screw (6). The lifting plate (5) is provided with a through hole (51) with a diameter larger than the screw hole (41). The through hole (51) and the screw hole (41) are in a one-to-one correspondence. The first screw (6) passes through the through hole (51). In the pressing state, the nut (61) abuts against the lifting plate (5) and exerts a force on the lifting plate (5) toward the mounting plate (4).

5. The large-load spatial pose adjustment device according to claim 3, characterized in that, The XY axis adjustment mechanism includes: The top block (7) is installed at the bottom of the mounting plate (4) and extends to the underside of the lifting plate (5) through a clearance opening on the lifting plate (5), having at least one abutting surface in each of the four directions of the XY axis; The third set screw (8) is threaded to the lifting plate (5) and can be fed axially to abut the abutment surface.

6. The large-load spatial pose adjustment device according to claim 5, characterized in that, A locking nut (81) capable of locking the axial position of the third set screw (8) is installed on the third set screw (8).

7. The large-load spatial pose adjustment device according to claim 5, characterized in that, The bottom of the lifting plate (5) is equipped with a reinforcing rib (52), and the third set screw (8) is threadedly connected to the reinforcing rib (52).

8. The large-load spatial pose adjustment device according to claim 3, characterized in that, The support column (1) is height-adjustably mounted on the mounting plate (4). The mounting plate (4) has mounting holes that fit the support column (1) with clearance. The bottom of the support column (1) has a base (11) with a diameter larger than that of the support column (1). The base (11) is fixedly connected to the mounting plate (4) by a second screw (13). A compensation shim (12) is detachably provided between the base (11) and the mounting plate (4).

9. A large-load spatial pose adjustment device according to claim 3, characterized in that, It also includes a guide assembly for guiding the lifting plate (5) to rise and fall. The guide assembly includes a guide rod (53) fixed to an external support structure. The axis of the guide rod (53) is set along the Z-axis. A support seat (54) is installed on the lifting plate (5). The support seat (54) slides with the guide rod (53) through a mating hole opened thereon.

10. A large-load spatial pose adjustment device according to claim 9, characterized in that, It also includes a servo electric cylinder (9) for providing lifting power to the lifting plate (5), the servo electric cylinder (9) is fixedly connected to the external support structure, and the output shaft of the servo electric cylinder (9) is abutted or floatingly connected to the bottom of the lifting plate (5).

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