Multi-degree-of-freedom adjusting device

Abstract

The utility model discloses a multi-degree-of-freedom adjusting device, and relates to the technical field of mechanical braking. The device comprises a lifting sliding track, a lifting arm sliding roller assembly, a lifting arm, a first auxiliary pull arm, a lifting pitching hydraulic cylinder, a second auxiliary pull arm, a base, a rotating bracket, a translation support, an arc-shaped guide rail mechanism, a rolling electric cylinder, a transverse moving electric cylinder, a rear supporting rolling arc, a translation roller assembly, a longitudinal moving electric cylinder, a connecting rod, a front supporting rolling arc and a rotating electric cylinder. The multi-degree-of-freedom posture adjustment of left and right, front and back, pitching, rolling, rotation in the horizontal plane, lifting and the like can be carried out on a carrier through the first auxiliary pull arm roller assembly, the posture of the carrier in the space can be conveniently and accurately adjusted, and an electric cylinder is adopted for driving a mechanism on an arc-shaped and linear rail to achieve curve and linear posture adjustment in the three-dimensional space. As a power actuating mechanism, the structure is simple, the maintenance is convenient, and the control precision and the working efficiency are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical braking technology, specifically relating to a multi-degree-of-freedom adjustment device. Background Technology

[0002] Attitude adjustment devices are ground support equipment used for suspended objects to perform actions such as lifting, lateral movement, longitudinal movement, rotation, pitching, and rolling. Currently, the mainstream attitude adjustment mechanism is usually a cantilever scissor structure, which has poor overall rigidity and problems such as large sway and low working efficiency. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a multi-degree-of-freedom adjustment mechanism to solve problems such as poor overall rigidity, large amount of swaying and low working efficiency.

[0004] According to one aspect of the present invention, a multi-degree-of-freedom adjustment device is provided, comprising a lifting sliding rail 1, a lifting arm sliding roller assembly 2, a lifting arm 3, a first auxiliary pull arm 4, a lifting and tilting hydraulic cylinder 5, a second auxiliary pull arm 6, a base 7, a rotating bracket 8, a translational support 9, an arc-shaped guide rail mechanism 10, a rolling electric cylinder 11, a transverse electric cylinder 12, a rear support roller 13, a translational roller assembly 14, a longitudinal electric cylinder 15, a connecting rod 16, a front support roller 17, a rotating electric cylinder 18, a rolling roller assembly 19, a second auxiliary pull arm roller assembly 20, and a roller bracket 21; wherein the lifting arm sliding roller assembly 2 is mounted on the lifting sliding rail 1 and hingedly connected to the lifting arm 3, and the auxiliary pull arm roller assembly 19 is mounted on the lifting sliding rail 1. The first auxiliary arm 4 is hinged to the second auxiliary arm 3 at one end via a fixed mounting base; the second auxiliary arm 6 is hinged to the second auxiliary arm roller assembly 20 at one end and to the lifting arm 3 at the other end; the base 7 is hinged to the upper end of the lifting arm 3; the overall lifting and pitching of the double half-scissor lift is achieved by synchronous or asynchronous lifting of the two sets of lifting and pitching hydraulic cylinders 5; the arc-shaped guide rail mechanism 10 is fixedly mounted on the base 7 by screws; the rotating bracket 8 is connected to the arc-shaped guide rail mechanism 10. The slider pair is connected by screws; the end of the cylinder body of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the base 7, and the end of the push rod of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the rotary bracket 8, which can push the rotary bracket 8 to adjust its rotational posture in the horizontal plane along the arc-shaped guide rail mechanism 10; the translation support 9 is connected to the rotary bracket 8 by welding; the two sets of rolling arc brackets 21 are connected by screws through connecting rods 16, and the rolling arc brackets and the translation support 9 are connected by translation roller assembly 14; the rear support rolling arc 13 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the front support rolling arc 17 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected to the fixed mounting seat on the base 7, and the push rod end of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the rotary bracket 8, which can push the rotary bracket 8 to adjust its rotational posture in the horizontal plane along the arc-shaped guide rail mechanism 10; the translation support 9 is connected to the rotary bracket 8 by welding; the two sets of rolling arc brackets 21 are connected by screws through connecting rods 16, and the rolling arc brackets and translation support 9 are connected by translation roller assembly 14; the rear support rolling arc 13 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the front support rolling arc 17 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected to the rolling arc bracket 21 by screws through connecting rods 16, and the rolling arc bracket 21 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected The roller bracket 21 is hinged to a fixed mounting seat, and the push rod end of the roller cylinder 11 is hinged to a fixed mounting seat on the front support roller 17 or the rear support roller 13. The roller cylinder 11 pushes and pulls to drive the roller bracket 21 to adjust its rolling posture. The cylinder body end of the transverse electric cylinder 12 is hinged to a fixed mounting seat on the translation support 9 or the rotating bracket 8, and the push rod end of the transverse electric cylinder 12 is hinged to a fixed mounting seat on the roller bracket 21. The cylinder body end of the longitudinal electric cylinder 15 is hinged to a fixed mounting seat on the rotating bracket 8, and the push rod end of the longitudinal electric cylinder 15 is hinged to a fixed mounting seat on the translation roller assembly 14. The transverse and longitudinal posture adjustments are achieved by driving the transverse electric cylinder 12 and the longitudinal electric cylinder 15.

[0005] Optionally, the lifting arm sliding roller assembly 2 includes a first V-shaped roller group 22, a first V-shaped roller group mounting base 23, a lifting arm connecting shaft 24, and a first needle roller bearing 25;

[0006] The upper and lower two sets of first V-shaped roller groups 22 are screwed to the first V-shaped roller group mounting base 23. The lifting arm connecting shaft 24 is installed in the first V-shaped roller group mounting base 23 through two first needle roller bearings 25. The lifting arm connecting shaft 24 is hinged to the lifting arm 3. The lifting arm sliding roller assembly 2 is connected to the lifting sliding track 1 through two sets of first V-shaped roller groups 22.

[0007] Optionally, the translation roller assembly 14 includes a transverse bearing roller 26, a longitudinal bearing roller 27, and a roller bracket 28;

[0008] The transverse bearing roller 26 and the longitudinal bearing roller 27 are mounted on the upper and lower mounting shafts of the roller bracket 28. The transverse bearing roller 26 is connected to the roller arc bracket 21 through a sliding pair, and the longitudinal bearing roller 27 is connected to the rotating bracket 8 through a sliding pair.

[0009] Optionally, the rolling roller assembly 19 includes a rolling bearing roller 29 and a bearing roller connecting shaft 30; the rolling bearing roller 29 is mounted on the rear support roller arc 13 and the front support roller arc 17 via the bearing roller connecting shaft 30, and the rolling roller assembly 19 is slidably connected to the roller arc bracket 21.

[0010] Optionally, the second auxiliary pull arm roller assembly 20 includes a second V-shaped roller group 31, a second V-shaped roller group mounting base 32, a second auxiliary pull arm connecting shaft 33, and a second needle roller bearing 34.

[0011] Optionally, the multi-degree-of-freedom adjustment device is connected to the transport vehicle frame via the lifting sliding rail 1 and the fixed mounting base.

[0012] Optionally, the degrees of freedom involved in lifting, lateral movement, longitudinal movement, rotation, and roll attitude adjustment are designed in a layered combination, and each degree of freedom is adjusted independently.

[0013] This utility model adopts a multi-degree-of-freedom attitude adjustment mechanism driven by hydraulic cylinders and electric cylinders. This mechanism can adjust the attitude of the projectile in multiple degrees of freedom, such as heading up and down, forward and backward, left and right, pitch, roll, and horizontal rotation. Different projectile carriers can be flexibly switched on the adjustment mechanism to adapt to projectiles of different diameters. The modular and combined design of various functions of this utility model results in a strong overall structural rigidity, high efficiency, and high motion accuracy. The overall design improves the efficiency of projectile loading operations. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this utility model;

[0015] Figure 2 This is a schematic diagram of a multi-degree-of-freedom motion mechanism according to an embodiment of this utility model;

[0016] Figure 3 This is a schematic diagram of the lifting arm sliding roller assembly according to an embodiment of this utility model;

[0017] Figure 4 This is a schematic diagram of the translation roller assembly according to an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of the rolling roller assembly according to an embodiment of the present invention;

[0019] Figure 6 This is a schematic diagram of the auxiliary pull arm B roller assembly according to an embodiment of this utility model;

[0020] Explanation of reference numerals in the attached figures:

[0021] 1-Lifting sliding rail, 2-Lifting arm sliding roller assembly, 3-Lifting arm, 4-First auxiliary pull arm, 5-Lifting and tilting hydraulic cylinder, 6-Second auxiliary pull arm, 7-Base, 8-Rotating bracket, 9-Translation support, 10-Arc-shaped guide rail mechanism, 11-Rolling electric cylinder, 12-Transverse electric cylinder, 13-Rear support roller, 14-Translation roller assembly, 15-Longitudinal electric cylinder, 16-Connecting rod, 17-Front support roller, 18-Rotating electric cylinder, 19-Rolling roller assembly, 20-Auxiliary pull arm B roller assembly, 21-Rolling bracket. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] According to one aspect of the present invention, a multi-degree-of-freedom adjustment device is provided, comprising a lifting sliding rail 1, a lifting arm sliding roller assembly 2, a lifting arm 3, a first auxiliary pull arm 4, a lifting and tilting hydraulic cylinder 5, a second auxiliary pull arm 6, a base 7, a rotating bracket 8, a translational support 9, an arc-shaped guide rail mechanism 10, a rolling electric cylinder 11, a transverse electric cylinder 12, a rear support roller 13, a translational roller assembly 14, a longitudinal electric cylinder 15, a connecting rod 16, a front support roller 17, a rotating electric cylinder 18, a rolling roller assembly 19, a second auxiliary pull arm roller assembly 20, and a roller bracket 21; wherein the lifting arm sliding roller assembly 2 is mounted on the lifting sliding rail 1 and hingedly connected to the lifting arm 3, and the auxiliary pull arm roller assembly 19 is mounted on the lifting sliding rail 1. The first auxiliary arm 4 is hinged to the second auxiliary arm 3 at one end via a fixed mounting base; the second auxiliary arm 6 is hinged to the second auxiliary arm roller assembly 20 at one end and to the lifting arm 3 at the other end; the base 7 is hinged to the upper end of the lifting arm 3; the overall lifting and pitching of the double half-scissor lift is achieved by synchronous or asynchronous lifting of the two sets of lifting and pitching hydraulic cylinders 5; the arc-shaped guide rail mechanism 10 is fixedly mounted on the base 7 by screws; the rotating bracket 8 is connected to the arc-shaped guide rail mechanism 10. The slider pair is connected by screws; the end of the cylinder body of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the base 7, and the end of the push rod of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the rotary bracket 8, which can push the rotary bracket 8 to adjust its rotational posture in the horizontal plane along the arc-shaped guide rail mechanism 10; the translation support 9 is connected to the rotary bracket 8 by welding; the two sets of rolling arc brackets 21 are connected by screws through connecting rods 16, and the rolling arc brackets and the translation support 9 are connected by translation roller assembly 14; the rear support rolling arc 13 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the front support rolling arc 17 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected to the fixed mounting seat on the base 7, and the push rod end of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the rotary bracket 8, which can push the rotary bracket 8 to adjust its rotational posture in the horizontal plane along the arc-shaped guide rail mechanism 10; the translation support 9 is connected to the rotary bracket 8 by welding; the two sets of rolling arc brackets 21 are connected by screws through connecting rods 16, and the rolling arc brackets and translation support 9 are connected by translation roller assembly 14; the rear support rolling arc 13 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the front support rolling arc 17 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected to the rolling arc bracket 21 by screws through connecting rods 16, and the rolling arc bracket 21 is connected to the rolling arc bracket 21 by a rolling pair through the rolling roller assembly 19; the end of the cylinder body of the rolling electric cylinder 11 is connected The roller bracket 21 is hinged to a fixed mounting seat, and the push rod end of the roller cylinder 11 is hinged to a fixed mounting seat on the front support roller 17 or the rear support roller 13. The roller cylinder 11 pushes and pulls to drive the roller bracket 21 to adjust its rolling posture. The cylinder body end of the transverse electric cylinder 12 is hinged to a fixed mounting seat on the translation support 9 or the rotating bracket 8, and the push rod end of the transverse electric cylinder 12 is hinged to a fixed mounting seat on the roller bracket 21. The cylinder body end of the longitudinal electric cylinder 15 is hinged to a fixed mounting seat on the rotating bracket 8, and the push rod end of the longitudinal electric cylinder 15 is hinged to a fixed mounting seat on the translation roller assembly 14. The transverse and longitudinal posture adjustments are achieved by driving the transverse electric cylinder 12 and the longitudinal electric cylinder 15.The lifting arm, first auxiliary arm, second auxiliary arm, lifting sliding rail, and lifting / tilting cylinders form a scissor lift linkage mechanism. When all four lifting / tilting hydraulic cylinders operate synchronously, the worktable is raised or lowered; when the two cylinders at the front or rear end operate simultaneously, the worktable is tilted. The first and second auxiliary arms provide auxiliary support and fixation for the scissor lift mechanism. The lifting sliding rail provides a linear motion trajectory for the scissor lift mechanism and ensures the lateral stability of the adjustment mechanism. The lifting / tilting hydraulic cylinders are hinged to the lifting arm. Synchronous extension and retraction of the lifting / tilting hydraulic cylinders drive the lifting arm to swing and the lifting arm sliding roller assembly to move within the lifting sliding rail, achieving the lifting of the base. Asynchronous extension and retraction of the lifting / tilting hydraulic cylinders drive the lifting arm to swing and the lifting arm sliding roller assembly to move within the lifting sliding rail, achieving the tilting of the base. The end of the rolling electric cylinder body is hinged to a fixed mounting seat on the rolling arc bracket. The end of the rolling electric cylinder push rod is hinged to a fixed mounting seat on the front or rear support rolling arc. Synchronous extension and retraction of the rolling electric cylinder drives the front and rear support rolling arcs to roll on the sliding pair of the rolling arc bracket. The transverse electric cylinder's cylinder body is hinged at the end via a fixed mounting base on a translation support or rotating bracket. The transverse electric cylinder's push rod is hinged at the end via a fixed mounting base on a rolling arc bracket. The transverse electric cylinder drives the rolling arc bracket to move laterally on the translation roller assembly through synchronous extension and retraction. The longitudinal electric cylinder's cylinder body is hinged at the end via a fixed mounting base on a rotating bracket. The longitudinal electric cylinder's push rod is hinged at the end via a fixed mounting base on a translation roller assembly. The longitudinal electric cylinder drives the translation roller assembly and the rolling arc bracket to move longitudinally through synchronous extension and retraction. The rotary electric cylinder's cylinder body is hinged at the end via a fixed mounting base on the base. The rotary electric cylinder's push rod is hinged at the end via a fixed mounting base on a rotary bracket. The rotary electric cylinder drives the rotary bracket to rotate circumferentially on the arc-shaped guide rail mechanism on the base through synchronous extension and retraction.

[0024] Furthermore, the lifting arm sliding roller assembly 2 includes a first V-shaped roller group 22, a first V-shaped roller group mounting base 23, a lifting arm connecting shaft 24, and a first needle roller bearing 25;

[0025] The upper and lower two sets of first V-shaped roller groups 22 are screwed to the first V-shaped roller group mounting base 23. The lifting arm connecting shaft 24 is installed in the first V-shaped roller group mounting base 23 through two first needle roller bearings 25. The lifting arm connecting shaft 24 is hinged to the lifting arm 3. The lifting arm sliding roller assembly 2 is connected to the lifting sliding track 1 through two sets of first V-shaped roller groups 22.

[0026] Furthermore, the translation roller assembly 14 includes a transverse bearing roller 26, a longitudinal bearing roller 27, and a roller bracket 28;

[0027] The transverse bearing roller 26 and the longitudinal bearing roller 27 are mounted on the upper and lower mounting shafts of the roller bracket 28. The transverse bearing roller 26 is connected to the roller arc bracket 21 through a sliding pair, and the longitudinal bearing roller 27 is connected to the rotating bracket 8 through a sliding pair.

[0028] Furthermore, the rolling roller assembly 19 includes a rolling bearing roller 29 and a bearing roller connecting shaft 30; the rolling bearing roller 29 is mounted on the rear support roller arc 13 and the front support roller arc 17 via the bearing roller connecting shaft 30, and the rolling roller assembly 19 is slidably connected to the roller arc bracket 21.

[0029] Furthermore, the second auxiliary pull arm roller assembly 20 includes a second V-shaped roller group 31, a second V-shaped roller group mounting base 32, a second auxiliary pull arm connecting shaft 33, and a second needle roller bearing 34.

[0030] Furthermore, the multi-degree-of-freedom adjustment device is connected to the transport vehicle frame via the lifting sliding rail 1 and the fixed mounting base, and the modular design facilitates maintenance.

[0031] Furthermore, the various degrees of freedom involved in the lifting, lateral, longitudinal, rotation, and roll attitude adjustments are designed in a layered manner, with each degree of freedom being adjusted independently without interference.

[0032] This utility model can adjust the posture of the carrier in multiple degrees of freedom, such as left and right, forward and backward, pitch, roll, horizontal rotation, and lifting. It can conveniently and accurately adjust the position and posture of the carrier in space. It uses an electric cylinder to drive the mechanism on the arc and linear tracks to realize the adjustment of the curved and linear posture in three-dimensional space. As a power actuator, it has a simple structure, is easy to maintain, and greatly improves the control accuracy and work efficiency.

[0033] Example

[0034] like Figure 1-6 As shown, a novel multi-degree-of-freedom adjustment mechanism includes a lifting sliding rail 1, a lifting arm sliding roller assembly 2, a lifting arm 3, a first auxiliary pull arm 4, a lifting and tilting hydraulic cylinder 5, a second auxiliary pull arm 6, a base 7, a rotating bracket 8, a translation support 9, an arc-shaped guide rail mechanism 10, a rolling electric cylinder 11, a transverse electric cylinder 12, a rear support rolling arc 13, a translation roller assembly 14, a longitudinal electric cylinder 15, a connecting rod 16, a front support rolling arc 17, a rotating electric cylinder 18, a rolling roller assembly 19, a second auxiliary pull arm roller assembly 20, and a rolling arc bracket 21.

[0035] The lifting arm 3, the first auxiliary arm 4, the second auxiliary arm 6, the lifting sliding rail 1, and the lifting and tilting cylinders 5 form a scissor lift linkage mechanism. When the four lifting and tilting hydraulic cylinders 5 operate synchronously, the base 7 is raised or lowered. When the two hydraulic cylinders at the front or rear end operate simultaneously, the base 7 is tilted. The first auxiliary arm 4 and the second auxiliary arm 6 are used for auxiliary support and fixation of the scissor lift mechanism. The lifting sliding rail 1 provides a linear motion trajectory for the scissor lift mechanism and ensures the lateral stability of the adjustment mechanism.

[0036] The lifting and tilting hydraulic cylinder 5 is hinged to the lifting arm 3. The lifting and tilting hydraulic cylinder 5 drives the lifting arm 3 to swing and the lifting arm sliding roller assembly 2 to move within the lifting sliding track 1 through synchronous extension and retraction, thereby realizing the lifting and tilting movement of the base 7. The lifting and tilting hydraulic cylinder 5 drives the lifting arm 3 to swing and the lifting arm sliding roller assembly 2 to move within the lifting sliding track 1 through asynchronous extension and retraction, thereby realizing the tilting movement of the base 7.

[0037] The end of the cylinder body of the rolling electric cylinder 11 is hinged to the fixed mounting seat on the rolling arc bracket 21, and the end of the push rod of the rolling electric cylinder 11 is hinged to the fixed mounting seat on the front support rolling arc 17 or the rear support rolling arc 13. The rolling electric cylinder 11 drives the front support rolling arc 17 and the rear support rolling arc 13 to achieve rolling motion on the sliding pair of the rolling arc bracket 21 through synchronous extension and retraction.

[0038] The end of the transverse electric cylinder 12 is hinged to the fixed mounting seat on the translation support 9 or the rotating bracket 8. The end of the push rod of the transverse electric cylinder 12 is hinged to the fixed mounting seat on the rolling bracket 21. The transverse electric cylinder 12 drives the rolling bracket 21 to move laterally on the translation roller assembly 14 through synchronous extension and retraction.

[0039] The end of the cylinder body of the longitudinal electric cylinder 15 is hinged to the fixed mounting seat on the rotating bracket 8, and the end of the push rod of the longitudinal electric cylinder 15 is hinged to the fixed mounting seat on the translation roller assembly 14. The longitudinal electric cylinder 15 drives the translation roller assembly 14 and the rolling arc bracket 21 to achieve longitudinal movement by synchronous extension and retraction.

[0040] The cylinder body end of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the base 7, and the push rod end of the rotary electric cylinder 18 is hinged to the fixed mounting seat on the rotary bracket 8. The rotary electric cylinder 18 drives the rotary bracket 8 to rotate in a circular motion on the arc-shaped guide rail mechanism 10 on the base 7 through synchronous extension and retraction.

[0041] The above description is merely a specific embodiment of this utility model, providing a detailed description of the utility model. Parts not covered in detail are conventional techniques. However, the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model should be included within the protection scope of this utility model. The protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A multi-degree-of-freedom adjustment device, characterized in that, The system includes a lifting sliding rail (1), a lifting arm sliding roller assembly (2), a lifting arm (3), a first auxiliary pull arm (4), a lifting pitch hydraulic cylinder (5), a second auxiliary pull arm (6), a base (7), a rotating bracket (8), a translation support (9), an arc-shaped guide rail mechanism (10), a rolling electric cylinder (11), a transverse electric cylinder (12), a rear support rolling arc (13), a translation roller assembly (14), a longitudinal electric cylinder (15), a connecting rod (16), a front support rolling arc (17), a rotating electric cylinder (18), a rolling roller assembly (19), a second auxiliary pull arm roller assembly (20), and a rolling arc bracket (21); wherein the lifting arm sliding roller assembly (2) is mounted on the lifting sliding rail (1) and hinged to the lifting arm (3). Next, the second auxiliary arm roller assembly (20) is mounted on the lifting sliding rail (1) and hinged to the second auxiliary arm (6); the cylinder body of the lifting and pitching hydraulic cylinder (5) is hinged to the fixed mounting base, and the push rod end is hinged to the lifting arm (3); one end of the first auxiliary arm (4) is hinged to the fixed mounting base, and the other end is hinged to the lifting arm (3); one end of the second auxiliary arm (6) is hinged to the second auxiliary arm roller assembly (20), and the other end is hinged to the lifting arm (3); the base (7) is hinged to the upper end of the lifting arm (3); the overall lifting and pitching attitude adjustment of the double half scissor lift is achieved by synchronous or asynchronous lifting of the two sets of lifting and pitching hydraulic cylinders (5); the arc-shaped guide rail The mechanism (10) is fixed to the base (7) by screwing; the rotating bracket (8) is connected to the slider pair on the arc guide mechanism (10) by screwing; the cylinder end of the rotating electric cylinder (18) is hinged to the fixed mounting seat on the base (7), and the push rod end of the rotating electric cylinder (18) is hinged to the fixed mounting seat on the rotating bracket (8), which can push the rotating bracket (8) to make horizontal rotational posture adjustment along the arc guide mechanism (10); the translation support (9) is connected to the rotating bracket (8) by welding; the two sets of rolling arc brackets (21) are screwed together by connecting rods (16), and the rolling arc brackets and the translation support (9) are connected by translation roller assembly (14); the rear support rolling arc (13) and the rolling arc bracket The frame (21) is connected by a rolling pair of the rolling roller assembly (19); the front support rolling arc (17) and the rolling arc bracket (21) are connected by a rolling pair of the rolling roller assembly (19); the cylinder end of the rolling electric cylinder (11) is hinged to the fixed mounting seat on the rolling arc bracket (21), and the push rod end of the rolling electric cylinder (11) is hinged to the fixed mounting seat on the front support rolling arc (17) or the rear support rolling arc (13). The rolling electric cylinder (11) pushes and pulls to drive the rolling arc bracket (21) to adjust its rolling posture; the cylinder end of the transverse electric cylinder (12) is hinged to the fixed mounting seat on the translation support (9) or the rotating bracket (8), and the push rod end of the transverse electric cylinder (12) is hinged to the fixed mounting seat on the rolling arc bracket (21).The end of the longitudinal electric cylinder (15) is hinged to a fixed mounting seat on a rotating bracket (8), and the end of the push rod of the longitudinal electric cylinder (15) is hinged to a fixed mounting seat on a translation roller assembly (14). The lateral and longitudinal movement attitudes are adjusted by driving the lateral electric cylinder (12) and the longitudinal electric cylinder (15).

2. The multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The lifting arm sliding roller assembly (2) includes a first V-shaped roller group (22), a first V-shaped roller group mounting base (23), a lifting arm connecting shaft (24), and a first needle roller bearing (25). The upper and lower two sets of first V-shaped roller groups (22) are screwed together with the first V-shaped roller group mounting base (23). The lifting arm connecting shaft (24) is installed in the first V-shaped roller group mounting base (23) through two first needle roller bearings (25). The lifting arm connecting shaft (24) is hinged to the lifting arm (3). The lifting arm sliding roller assembly (2) is connected to the lifting sliding rail (1) through two sets of first V-shaped roller groups (22).

3. The multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The translation roller assembly (14) includes a transverse bearing roller (26), a longitudinal bearing roller (27), and a roller bracket (28). The transverse bearing roller (26) and the longitudinal bearing roller (27) are mounted on the upper and lower mounting shafts of the roller bracket (28). The transverse bearing roller (26) is connected to the roller arc bracket (21) through a sliding pair, and the longitudinal bearing roller (27) is connected to the rotating bracket (8) through a sliding pair.

4. The multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The rolling roller assembly (19) includes a rolling bearing roller (29) and a bearing roller connecting shaft (30); the rolling bearing roller (29) is mounted on the rear support roller arc (13) and the front support roller arc (17) via the bearing roller connecting shaft (30), and the rolling roller assembly (19) is connected to the roller arc bracket (21) via a sliding pair.

5. The multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The second auxiliary pull arm roller assembly (20) includes a second V-shaped roller group (31), a second V-shaped roller group mounting base (32), a second auxiliary pull arm connecting shaft (33), and a second needle roller bearing (34).

6. The multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The multi-degree-of-freedom adjustment device is connected to the transport vehicle frame via a lifting sliding rail (1) and a fixed mounting base.

7. A multi-degree-of-freedom adjustment device according to claim 1, characterized in that, The various degrees of freedom involved in lifting, lateral movement, longitudinal movement, rotation, and roll attitude adjustment are designed in a layered combination, and each degree of freedom can be adjusted independently.

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