Modular transport attitude adjustment device and wheeled parallel attitude adjustment robot

Abstract

The utility model discloses modular transportation posture adjusting device and wheel type parallel posture adjusting robot belong to the field of robot, and the device includes wheel type mobile subassembly, posture adjusting subassembly, vertical mobile subassembly and end connecting piece, and wheel type mobile subassembly is equipped with independent drive's wheel and wheel frame, is used for realizing horizontal plane movement and steering, posture adjusting subassembly is located between wheel frame and vertical mobile subassembly, and the rotation axis of its first rotary pair and second rotary pair is perpendicular and intersects with each other, forms universal joint structure, vertical mobile subassembly adopts trapezoidal screw - nut pair drive end connecting piece to lift, and end connecting piece is used for connecting load or external platform, and wheel type parallel posture adjusting robot includes operation platform and at least four above -mentioned device as support and posture adjusting support leg, and be equipped with linear movement module and end execution clamp on operation platform, the utility model discloses wheel type movement, vertical lifting and rotating posture adjusting are integrated in one, and the structure is compact, and mode can switch, and it is convenient to install maintenance.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a modular transport posture adjustment device and a wheeled parallel posture adjustment robot. Background Technology

[0002] In high-end manufacturing fields such as aerospace, military assembly, and flexible production lines, the workpieces to be assembled are typically characterized by large weight, high attitude accuracy requirements, and frequent workstation changes. These working environments place stringent demands on transport and attitude adjustment equipment: it needs both a wide range of material handling capabilities to facilitate rapid switching between different workstations and a small range of high-precision attitude adjustment capabilities to meet the needs of precision docking and assembly.

[0003] Currently, the industry commonly uses a combination of a mobile platform and an independent attitude adjustment mechanism to complete such tasks. The mobile platform is responsible for large-scale transportation, while the independent attitude adjustment mechanism is responsible for precise alignment at the end effector. However, this split-type solution has revealed many shortcomings in practical applications: the overall system structure is complex, the size and weight are large, and it is difficult to adapt to space-constrained operating environments.

[0004] Furthermore, existing wheeled mobile mechanisms mostly focus on in-plane motion control, lacking sufficient integration of functions such as attitude adjustment, vertical lifting, and rotation around a vertical axis under load. Under heavy load conditions, their stress structure often suffers from eccentric loading, which can easily generate additional bending moments on the vertical lifting guide elements, affecting the smoothness of movement and positioning accuracy, making it difficult to simultaneously meet the integrated operation requirements of handling and attitude adjustment. Utility Model Content

[0005] This invention aims to solve the technical problems of existing mobile attitude adjustment equipment, such as redundant structure, low functional integration, poor stress stability under load, and difficulty in simultaneously handling large-scale transportation and high-precision attitude adjustment. It provides a modular transportation attitude adjustment device and a wheeled parallel attitude adjustment robot. The purpose is to highly integrate planar movement, vertical lifting, rotation around a vertical axis, and attitude adjustment around a horizontal axis into a single mechanism while maintaining a compact structure. By optimizing the force transmission path to eliminate the influence of additional bending moments on the guiding elements, the motion stability and attitude adjustment accuracy of the mechanism under heavy loads are improved. Simultaneously, through the modular combination and coordinated control of multiple devices, a wheeled parallel robot with both large-scale mobility and multi-degree-of-freedom precision attitude adjustment capabilities is constructed to meet the high-precision operation requirements of aerospace, military assembly, and other industries.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A modular transport attitude adjustment device, comprising:

[0008] The wheeled mobile assembly includes a wheel frame and a first wheel and a second wheel respectively disposed on both sides of the wheel frame; the first wheel and the second wheel are directly driven by built-in independent hub motors, which are used to realize the device's straight-line movement, differential steering and stationary steering through speed and direction control;

[0009] An attitude adjustment assembly, disposed above the wheel frame, includes a first revolute joint and a second revolute joint; the rotation axes of the first revolute joint and the second revolute joint are perpendicular to each other and intersect in space to form a universal joint structure; the lower end of the universal joint structure is connected to the wheel frame, and the upper end is connected to the vertical movement assembly, so as to transmit the load force through the intersection of the axes of the two revolute joints, thereby reducing the off-center load and additional torque on the vertical movement assembly; the attitude adjustment assembly also includes a component frame and an elastic reset mechanism; the first revolute joint and the second revolute joint are disposed on the component frame, and the elastic reset mechanism is installed on the protruding part at the end of the component frame, so as to drive the vertical movement assembly to automatically reset to the vertical state when the device is unloaded;

[0010] A vertical moving component, with its lower end connected to the attitude adjustment component and its upper end connected to the end connector, is used to drive the end connector to move up and down in the vertical direction;

[0011] The vertical movement component includes a trapezoidal lead screw, a nut seat, a guide member, and an optical axis; the trapezoidal lead screw is threadedly engaged with the nut seat, the optical axis is slidably connected to the guide member and serves as a guide; the lower end of the optical axis is rotatably connected to the second rotary joint of the attitude adjustment component, and the nut seat is fixedly connected to the end connector through a support frame;

[0012] The vertical movement component also includes a damping shaft and a conductive slip ring; the rotating parts of the damping shaft and the conductive slip ring are connected to the end of the optical axis, and the fixed parts of the damping shaft and the conductive slip ring are connected to the component frame of the attitude adjustment component.

[0013] The end connector is connected at the lower end to the vertical moving component and at the upper end to connect to the load or external platform, tooling fixture.

[0014] A further improvement of this utility model is that the first wheel and the second wheel are symmetrically installed on both sides of the wheel frame, and mounting holes for connecting the attitude adjustment component are provided on both side walls of the wheel frame.

[0015] A further improvement of this utility model is that the vertical moving component further includes a stepper motor and a transmission component; both the stepper motor and the transmission component are mounted on the guide component, and the stepper motor drives the trapezoidal lead screw to rotate through the transmission component to drive the end connector to move vertically up and down.

[0016] A further improvement of this utility model is that: the two intersecting sides of the end connector are respectively provided with a connecting shaft and a connecting hole for quick connection and fixation with an external platform.

[0017] A further improvement of this utility model is that: the upper surface of the end connector is provided with a T-shaped groove for locking the connected load.

[0018] A further improvement of this utility model is that a threaded adapter is provided at the center of the interior of the end connector, and the threaded adapter is fixedly connected to the end of the support frame of the vertical moving component by bolts.

[0019] A wheeled parallel attitude adjustment robot, comprising:

[0020] Operating platform;

[0021] At least four modular transport posture adjustment devices are evenly distributed at the bottom of the operating platform and fixedly connected thereto, serving as support and posture adjustment legs;

[0022] A linear motion module is mounted on the operating platform;

[0023] An end effector fixture is connected to the linear motion module and located above the operating platform for clamping workpieces; the linear motion module is used to drive the end effector fixture to move on the operating platform.

[0024] The technological advancements achieved by this utility model due to the adoption of the above technical solution are as follows:

[0025] 1. This utility model integrates wheeled movement, vertical lifting, and posture adjustment around a vertical axis into a single mechanism. By independently driving the wheels with hub motors, it achieves walking functionality while simultaneously using differential control to adjust the rotation around the vertical axis. This eliminates the need for a separate rotary drive chassis or turntable, significantly simplifying the system structure, reducing manufacturing costs, and improving equipment versatility.

[0026] 2. This utility model, by setting a universal joint structure with intersecting rotation axes between the wheeled moving component and the vertical moving component, allows the load force to be directly transmitted to the wheel frame through the intersection of the axes of the two rotating pairs. This design effectively eliminates the influence of additional bending moment on the vertical lifting guide elements (such as optical shafts and lead screws), greatly reduces the off-center load and frictional resistance during the lifting process, significantly improves the motion balance and positioning accuracy of the device under load, and extends the service life of the guide components.

[0027] 3. This utility model utilizes differential control of independent wheel hubs, allowing the device to flexibly switch motion modes according to different working conditions: it can achieve on-the-spot turning in confined spaces, significantly improving maneuverability; it can maintain high-speed, low-resistance operation during long-distance straight travel; and it can also perform flexible differential steering according to path requirements. This multi-mode motion capability greatly enhances the system's versatility and adaptability in complex environments.

[0028] 4. This utility model, by setting up an elastic reset mechanism, ensures that the device can automatically return to a vertical neutral position when unloaded or lightly loaded, facilitating a quick start for the next load-bearing operation. Simultaneously, the integration of a damping shaft and a conductive slip ring at the rotating connection not only provides necessary damping for the rotational motion and improves the stability of the rotation process, but more importantly, it enables uninterrupted power supply and signal transmission during continuous rotation and attitude adjustment of the device. This makes it particularly suitable for complex working conditions such as industrial assembly and automated material handling that require continuous power supply (e.g., driving end-effectors) and real-time data transmission.

[0029] 5. Based on the aforementioned modular transport and attitude adjustment device, this utility model also provides a wheeled parallel attitude adjustment robot. This robot addresses the operational needs of aerospace, military assembly, and flexible production lines, where workpieces are heavy, attitude accuracy is critical, and workstation switching is frequent. It utilizes multiple modular transport and attitude adjustment devices evenly distributed at the bottom of the operating platform, forming a multi-legged parallel support and drive structure. On one hand, the synergistic effect of the wheeled movement and vertical lifting functions built into each module enables the robot to possess both large-scale transport capabilities and small-scale high-precision attitude adjustment capabilities, solving the problems of structural redundancy and bulkiness caused by the combination of a mobile platform and independent attitude adjustment mechanisms in traditional solutions. Furthermore, the control system precisely coordinates the drive of the hub motors and lifting mechanisms of each module, achieving overall omnidirectional movement and multi-degree-of-freedom attitude adjustment, significantly improving load-bearing capacity and motion stability. Simultaneously, the linear movement module and end effector integrated into the operating platform enable flexible material handling and precise positioning during transport and assembly operations. This robot is particularly suitable for complex conditions such as precision docking of heavy workpieces and automated assembly lines, providing an effective solution for high-precision, highly flexible intelligent assembly. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of a modular transportation posture adjustment device provided in this embodiment of the utility model;

[0032] Figure 2 This is a schematic diagram of the structure of the wheeled mobile component in an embodiment of this utility model;

[0033] Figure 3 This is a schematic diagram of the posture adjustment component in an embodiment of the present invention;

[0034] Figure 4 This is a structural cross-sectional view of the vertical moving component in an embodiment of this utility model;

[0035] Figure 5 This is a schematic diagram of the overall structure of the vertical moving component in an embodiment of this utility model;

[0036] Figure 6 This is a schematic diagram of the posture adjustment component and the vertical movement component assembled together in an embodiment of this utility model;

[0037] Figure 7 This is a schematic diagram of the external structure of the end connector in an embodiment of this utility model;

[0038] Figure 8 This is a schematic diagram of the internal structure of the end connector in an embodiment of this utility model;

[0039] Figure 9 This is a schematic diagram of the wheeled parallel attitude adjustment robot structure in an embodiment of this utility model;

[0040] Among them, 1. Wheeled moving assembly; 11. Wheel frame; 12. First wheel; 13. Second wheel; 14. Mounting hole; 2. Attitude adjustment assembly; 21. Assembly frame; 22. First rotating joint; 23. Second rotating joint; 24. Elastic reset mechanism; 3. Vertical moving assembly; 31. Trapezoidal lead screw; 32. Nut seat; 33. Guide component; 34. Optical axis; 35. Transmission component; 36. Stepper motor; 37. Support frame; 38. Damping rotating shaft; 39. Conductive slip ring; 4. End connector; 41. Connecting shaft; 42. Connecting hole; 43. T-slot; 44. Threaded connecting platform; 5. Operating platform; 6. End actuator fixture; 7. Linear moving module; A. Modular transport attitude adjustment device. Detailed Implementation

[0041] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this utility model are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0042] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:

[0045] like Figures 1-8 As shown, a modular transport posture adjustment device includes a wheeled moving component 1, a posture adjustment component 2, a vertical moving component 3, and an end connector 4.

[0046] The wheeled mobile assembly 1 is located at the bottom of the device and in contact with the ground. It includes a wheel frame 11 and a first wheel 12 and a second wheel 13 respectively disposed on both sides of the wheel frame 11. The first wheel 12 and the second wheel 13 are directly driven by built-in independent hub motors. By controlling the speed and direction of the two wheels, the device can achieve straight-line movement, differential steering and turning on the spot. This enables the device to complete positioning and transportation in the horizontal plane.

[0047] The attitude adjustment component 2 is located above the wheel frame 11 and includes a first rotating joint 22 and a second rotating joint 23. The rotation axes of the first rotating joint 22 and the second rotating joint 23 are perpendicular to each other and intersect in space to form a universal joint structure. The lower end of the universal joint structure is connected to the wheel frame 11 and the upper end is connected to the vertical moving component 3, so that the load force is transmitted through the intersection of the axes of the two rotating joints to reduce the off-center load and additional torque on the vertical moving component 3.

[0048] The lower end of the vertical moving component 3 is connected to the attitude adjustment component 2, and the upper end is connected to the end connector 4, which is used to drive the end connector 4 to move up and down in the vertical direction;

[0049] The lower end of the end connector 4 is connected to the vertical moving component 3, and the upper end is used to connect to the load or external platform, tooling fixture.

[0050] Furthermore, such as Figure 2 As shown, the first wheel 12 and the second wheel 13 are symmetrically mounted on both sides of the wheel frame 11, and mounting holes 14 for connecting the attitude adjustment assembly 2 are provided on both side walls of the wheel frame 11.

[0051] Furthermore, such as Figure 3 As shown, the attitude adjustment component 2 includes a component frame 21, a first rotating joint 22, a second rotating joint 23, and an elastic reset mechanism 24. The first rotating joint 22 and the second rotating joint 23 are mounted on the component frame 21, and the first rotating joint 22 is symmetrically arranged on both sides of the component frame 21, respectively rotatably connected to the corresponding mounting holes 14 to realize the swing between the wheeled moving component 1 and the attitude adjustment component 2. The elastic reset mechanism 24 is mounted on the protruding part at the end of the component frame 21 and is used to drive the vertical moving component 3 to automatically reset to the initial vertical position when the device is unloaded.

[0052] Under load conditions, the load borne by the wheeled moving component 1 and the end connector 4 is transmitted to the wheel frame 11 through the intersection of the universal joint axis formed by the first rotating joint 22 and the second rotating joint 23. This structural design can effectively reduce the eccentric load moment and additional bending moment experienced by the vertical moving component 3 during load-bearing, significantly improving the overall stress stability and service life of the device.

[0053] Furthermore, such as Figure 4 , Figure 5 As shown, the vertical moving component 3 includes a trapezoidal lead screw 31, a nut seat 32, a guide member 33, and an optical axis 34; the trapezoidal lead screw 31 is threadedly engaged with the nut seat 32, the optical axis 34 is slidably connected to the guide member 33 and plays a guiding role; the lower end of the optical axis 34 is rotatably connected to the second rotating pair 23 of the attitude adjustment component 2, and the nut seat 32 is fixedly connected to the end connector 4 through the support frame 37.

[0054] Furthermore, such as Figure 4 , Figure 5 As shown, the vertical moving component 3 also includes a stepper motor 36 and a transmission component 35; both the stepper motor 36 and the transmission component 35 are mounted on the guide component 33. The stepper motor 36 drives the trapezoidal lead screw 31 to rotate through the transmission component 35, thereby driving the end connector 4 to move vertically up and down.

[0055] Furthermore, such as Figure 4 , Figure 5 As shown, the vertical movement component 3 also includes a damping shaft 38 and a conductive slip ring 39; the rotating parts of the damping shaft 38 and the conductive slip ring 39 are connected to the end of the optical axis 34, and the fixed parts of the damping shaft 38 and the conductive slip ring 39 are connected to the component frame 21 of the attitude adjustment component 2.

[0056] Combination Figure 4, Figure 5 and Figure 6 The specific connection method between the vertical movement component 3 and the attitude adjustment component 2 is as follows:

[0057] The lower end of the vertical moving component 3 is rotatably connected to the second rotating joint 23 of the attitude adjustment component 2 via the optical axis 34. That is, the end of the optical axis 34 cooperates with the second rotating joint 23 to achieve relative rotation around the vertical axis.

[0058] To further enhance the stability and functionality of the connection, a damping shaft 38 and a conductive slip ring 39 are provided at the end of the optical axis 34. The rotating parts of the damping shaft 38 and the conductive slip ring 39 are fixedly connected to the end of the optical axis 34; the fixed parts of the damping shaft 38 and the conductive slip ring 39 are fixedly connected to the component frame 21 of the attitude adjustment component 2 by bolts.

[0059] Through the above structure, the lower end of the vertical moving component 3 and the attitude adjustment component 2 are not only mechanically rotated, but also provided with rotational damping through the damping shaft, which improves the rotational stability. At the same time, the conductive slip ring 39 ensures that the power supply and signal lines of the vertical moving component 3 can remain continuously connected with the attitude adjustment component 2 during relative rotation, which provides a guarantee for the continuous operation of electrical components such as the stepper motor 36.

[0060] Furthermore, such as Figure 7 , Figure 8 As shown, the two intersecting sides of the end connector 4 are respectively provided with a connecting shaft 41 and a connecting hole 42 for quick connection and fixation with an external platform.

[0061] Furthermore, such as Figure 7 As shown, the upper surface of the end connector 4 is provided with a T-shaped groove 43 for locking the connected load.

[0062] Furthermore, such as Figure 8 As shown, a threaded adapter 44 is provided in the center of the interior of the end connector 4, and the threaded adapter 44 is fixedly connected to the end of the support frame 37 of the vertical moving component 3 by bolts.

[0063] like Figure 9 As shown, a wheeled parallel attitude adjustment robot includes:

[0064] Operating platform 5;

[0065] At least four modular transport attitude adjustment devices A are evenly distributed at the bottom of the operating platform 5 and fixedly connected thereto, serving as support and attitude adjustment legs;

[0066] Linear movement module 7 is mounted on operating platform 5;

[0067] The end effector 6 is connected to the linear motion module 7 and is located above the operating platform 5 for clamping workpieces; the linear motion module 7 is used to drive the end effector 6 to move on the operating platform 5.

[0068] It should be noted that because the first rotary joint 22 and the second rotary joint 23 of the modular transport posture adjustment device A do not integrate drive motors, each module only has movement and lifting functions and lacks autonomous posture adjustment capabilities. When the wheeled parallel posture adjustment robot needs to adjust its posture, multiple modular transport posture adjustment devices A must be connected through the end connector 4. By coordinating the vertical movement components 3 of each device, the torque required for posture adjustment can be generated, thereby completing the robot's posture adjustment.

[0069] To achieve precise posture adjustment and movement of the wheeled parallel posture adjustment robot, this technical solution is also equipped with a control system. This control system is the core of the modular transport posture adjustment device A and the coordinated operation of the whole machine. It includes a controller (such as a programmable logic controller PLC or an embedded microcontroller) and an operating terminal connected to it (such as a handheld remote control, a touch screen or a host computer).

[0070] The controller is electrically connected to the hub motors of the first wheel 12 and the second wheel 13 in each modular transport attitude adjustment device A, as well as the stepper motor 36 of the vertical movement component 3. Through continuous power supply and signal transmission via the conductive slip ring 39, it is ensured that even if the modular transport attitude adjustment device A rotates relative to each other during rotational attitude adjustment, the communication between the controller and each motor is not interrupted, thus guaranteeing the stability of multi-device collaborative control.

[0071] Operators send commands via a terminal, and the controller calculates and controls the motion parameters of each module's transport and attitude adjustment device A based on these commands. It also precisely controls the speed, direction, and lifting stroke of each motor, enabling the wheeled parallel attitude adjustment robot to move autonomously, lift precisely, and adjust its angle within confined spaces. The system supports multiple operating modes, including remote control, semi-automatic, and fully automatic trajectory operation, meeting the flexible operation requirements under complex working conditions.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A modular transport attitude adjustment device, characterized in that, include: The wheeled mobile assembly (1) includes a wheel frame (11) and a first wheel (12) and a second wheel (13) respectively disposed on both sides of the wheel frame (11); the first wheel (12) and the second wheel (13) are directly driven by built-in independent hub motors, which are used to realize the device's straight-line movement, differential steering and stationary steering through speed and direction control; The attitude adjustment component (2) is disposed above the wheel frame (11) and includes a first rotating joint (22) and a second rotating joint (23). The rotation axes of the first rotating joint (22) and the second rotating joint (23) are perpendicular to each other and intersect in space to form a universal joint structure. The lower end of the universal joint structure is connected to the wheel frame (11) and the upper end is connected to the vertical moving component (3) to transmit the load force through the intersection of the axes of the two rotating joints, so as to reduce the off-center load and additional torque on the vertical moving component (3). The attitude adjustment component (2) also includes a component frame (21) and an elastic reset mechanism (24). The first rotating joint (22) and the second rotating joint (23) are disposed on the component frame (21), and the elastic reset mechanism (24) is installed on the protruding part at the end of the component frame (21) to drive the vertical moving component (3) to automatically reset to the vertical state when the device is unloaded. The vertical moving component (3) is connected at its lower end to the attitude adjustment component (2) and at its upper end to the end connector (4), and is used to drive the end connector (4) to move up and down in the vertical direction; The vertical moving component (3) includes a trapezoidal lead screw (31), a nut seat (32), a guide (33), and an optical axis (34); the trapezoidal lead screw (31) is threadedly engaged with the nut seat (32), and the optical axis (34) is slidably connected to the guide (33) and serves as a guide; the lower end of the optical axis (34) is rotatably connected to the second rotating pair (23) of the attitude adjustment component (2), and the nut seat (32) is fixedly connected to the end connector (4) through a support frame (37); The vertical movement component (3) further includes a damping shaft (38) and a conductive slip ring (39); the rotating parts of the damping shaft (38) and the conductive slip ring (39) are connected to the end of the optical axis (34), and the fixed parts of the damping shaft (38) and the conductive slip ring (39) are connected to the component frame (21) of the attitude adjustment component (2); The end connector (4) is connected at the lower end to the vertical moving component (3) and at the upper end to the load or external platform and tooling fixture.

2. The modular transport attitude adjustment device according to claim 1, characterized in that, The first wheel (12) and the second wheel (13) are symmetrically installed on both sides of the wheel frame (11), and mounting holes (14) for connecting the attitude adjustment component (2) are provided on both sides of the wheel frame (11).

3. The modular transport attitude adjustment device according to claim 1, characterized in that, The vertical moving component (3) also includes a stepper motor (36) and a transmission component (35); the stepper motor (36) and the transmission component (35) are both mounted on the guide component (33). The stepper motor (36) drives the trapezoidal lead screw (31) to rotate through the transmission component (35) so as to drive the end connector (4) to move vertically.

4. The modular transport attitude adjustment device according to claim 1, characterized in that, The two intersecting sides of the end connector (4) are respectively provided with a connecting shaft (41) and a connecting hole (42) for quick connection and fixation with an external platform.

5. A modular transport attitude adjustment device according to claim 1, characterized in that, The upper surface of the end connector (4) is provided with a T-shaped groove (43) for locking the connection load.

6. A modular transport attitude adjustment device according to claim 1, characterized in that, A threaded adapter (44) is provided in the center of the interior of the end connector (4), and the threaded adapter (44) is fixedly connected to the end of the support frame (37) of the vertical moving component (3) by bolts.

7. A wheeled parallel attitude adjustment robot, characterized in that, include: Operating platform (5); At least four modular transport posture adjustment devices as described in any one of claims 1-6 are evenly distributed on the bottom of the operating platform (5) and fixedly connected thereto, serving as support and posture adjustment legs; A linear motion module (7) is mounted on the operating platform (5); The end effector fixture (6) is connected to the linear motion module (7) and located above the operating platform (5) for clamping the workpiece; the linear motion module (7) is used to drive the end effector fixture (6) to move on the operating platform (5).

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