A pose-adjusting tightening device

Abstract

The utility model relates to a kind of posture-adjusting tightening device, including chassis;Posture-adjusting mechanical arm is set on chassis, X-axis moving mechanism, Y-axis moving mechanism, Z-axis lifting mechanism and pitch posture-adjusting mechanism are equipped between posture-adjusting mechanical arm and chassis, the position and angle of posture-adjusting mechanical arm can be adjusted, and the position and angle of tightening shaft are further adjusted, to adapt to the bolt on the shovel plate of different postures is tightened;Tightening shaft is set in the end of posture-adjusting mechanical arm, the bottom of tightening shaft is equipped with guide frame, guide frame is slidably connected in posture-adjusting mechanical arm, and elastic mechanism is equipped between guide frame and tightening shaft, so that tightening shaft can be elastically self-adapting fine adjustment when aligning bolt, so that tightening shaft can accurately position bolt and realize tightening, the position and angle of tightening shaft are automatically controlled by control system, and the tightening of bolt is automatically controlled, tightening torque is controllable, convenient for later disassembly replacement or maintenance, degree of automation is high, reduces manual operation, saves time and effort, improves efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to an attitude adjustment and tightening device. Background Technology

[0002] Currently, when replacing the blade on a grader, it is usually necessary to remove the old blade and install the new one. This requires removing the 54 bolts connecting the blade to the push plate, and then tightening them after replacing the blade. Currently, the removal and tightening of these connecting bolts is mostly done manually using a pneumatic wrench. However, this manual operation, often requiring the operator to squat and hold the heavy pneumatic wrench, is time-consuming, labor-intensive, and makes it difficult to effectively control the tightening torque, leading to difficulties in subsequent disassembly.

[0003] In existing technologies, there is also a tightening robot based on a assisted robotic arm for tightening bolts. However, research has found that, due to the uncertain parking posture of the shovel in actual field conditions, there are pitch angles and height differences between the two ends, and there is a certain fit clearance between the bolt and the shovel blade. Therefore, there are problems with the center distance and position of the tightening tool being variable. In practical applications, the bolts may not be aligned properly when the tightening shafts are at a fixed spacing.

[0004] Therefore, it is necessary to design a better tightening device to solve the above problems. Utility Model Content

[0005] This utility model provides an attitude adjustment tightening device that can automatically adjust the position and attitude of the tightening shaft to adapt to tightening bolts on shovel plates with different attitudes, and the tightening torque is controllable and highly automated.

[0006] This utility model provides an attitude adjustment tightening device, comprising: Chassis; An attitude-adjusting robotic arm is mounted on the chassis, and an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis lifting mechanism, and a pitch adjustment mechanism are provided between the attitude-adjusting robotic arm and the chassis; and A tightening shaft is located at the end of the attitude adjustment robot arm. A guide frame is provided at the bottom of the tightening shaft. The guide frame is slidably connected to the attitude adjustment robot arm. An elastic mechanism is provided between the guide frame and the tightening shaft. The elastic mechanism is configured to allow the tightening shaft to elastically extend and retract along its axial direction.

[0007] In one embodiment, a control system is also included, which is connected to the attitude adjustment robot arm, the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis lifting mechanism, the pitch adjustment mechanism, and the tightening shaft. The control system controls the adjustment of the attitude of the attitude adjustment robot arm and the tightening of the tightening shaft.

[0008] In one embodiment, the attitude adjustment robot arm is provided with a visual positioning component at the end near the tightening shaft. The visual positioning component is connected to the control system. The control system controls the movement of the attitude adjustment robot arm and the positioning and tightening of the tightening shaft according to the detection signal of the visual positioning component.

[0009] In one embodiment, the attitude adjustment and tightening device is provided in two sets, which are symmetrically arranged and connected to an independent control system to adjust the position of the attitude adjustment and tightening device and the tightening of the tightening shaft independently.

[0010] In one embodiment, the chassis includes a vehicle body, a servo assembly, a battery system, and the control system, with the battery system located at the rear end of the vehicle body and two sets of the control system located on either side of the battery system.

[0011] In one embodiment, the resilient mechanism includes: A first elastic element is disposed at one end of the tightening shaft near the attitude adjustment robot arm, and the first elastic element is connected between the fixing block at the end of the guide frame and the tightening shaft; A second elastic element is disposed at the end of the guide frame away from the attitude adjustment robot arm, and the second elastic element is connected between the guide frame and the tightening shaft.

[0012] In one embodiment, a limit sensor is provided at the end of the guide frame near the attitude adjustment robotic arm.

[0013] In one embodiment, the X-axis moving mechanism is disposed at the bottom of the attitude adjustment robotic arm, and the X-axis moving mechanism includes: A first driving component is disposed on the attitude adjustment robotic arm, and a first gear is provided at the output end of the first driving component; The first rack is disposed on the surface of the first mounting plate of the Z-axis lifting mechanism; The first slide rail is set along the X-axis on the side wall of the attitude adjustment robot arm; The first gear meshes with the first rack. When the first driving member drives the first gear to rotate, it drives the rack to move, which in turn drives the attitude adjustment robot arm to move along the first slide rail.

[0014] In one embodiment, the pitch adjustment mechanism includes: A second driving component is disposed on the first mounting plate, and a second gear is provided at the output end of the second driving component; A sector gear is fixed to one end of a second mounting plate, and the middle part of the second mounting plate is hinged to the side wall of the first mounting plate. The first guide rail is fixed to the side wall of the second mounting plate, and the first guide rail cooperates with the first slide rail; The second gear meshes with the sector gear. When the second drive unit drives the second gear to rotate, it drives the sector gear to rotate, thereby driving the second mounting plate and the attitude adjustment robot arm to rotate in the pitch direction.

[0015] In one embodiment, the Z-axis lifting mechanism includes a bracket, a first mounting plate is slidably connected to the side wall of the second mounting plate away from the bracket to lift relative to the bracket along the Z-axis, and the bottom of the bracket is slidably connected to a Y-axis moving mechanism to move relative to the Y-axis.

[0016] Compared with the prior art, the advantages of this utility model are as follows: by adjusting the position and angle of the attitude adjustment robot arm through the X-axis moving mechanism, Y-axis moving mechanism, Z-axis lifting mechanism and pitch adjustment mechanism, the position and attitude of the tightening shaft are adjusted, thereby adapting to tightening bolts on the shovel plate in different attitudes. The tightening shaft is elastically connected to the attitude adjustment robot arm, so that the tightening shaft can elastically and adaptively fine-tune when aligning with the bolt, so that the tightening shaft can accurately position the bolt and achieve tightening. This utility model automatically controls the position and angle of the tightening shaft through the control system, and automatically controls the tightening of the bolt. The tightening torque is controllable, which is convenient for later disassembly, replacement or maintenance. It has a high degree of automation, reduces manual operation, saves time and effort, and improves efficiency. Attached Figure Description

[0017] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the structure of the posture adjustment and tightening device of this utility model; Figure 2 yes Figure 1 Structural diagrams of the X-axis moving mechanism, Y-axis moving mechanism, Z-axis lifting mechanism, and pitch adjustment mechanism; Figure 3 yes Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a schematic diagram of the tightening shaft in the posture adjustment and tightening device of this utility model; Figure 5 This is a cross-sectional view of the tightening shaft and the attitude adjustment robotic arm of this utility model. Figure 6 This is a schematic diagram of the structure of two sets of posture adjustment and tightening devices in another embodiment of this utility model; Figure label: 1. Chassis; 11. Vehicle body; 12. Battery system; 13. Control system; 2. Posture-adjusting robotic arm; 3. X-axis moving mechanism; 31. First driving component; 32. First gear; 33. First rack; 34. First slide rail; 4. Pitch adjustment mechanism; 41. Second drive component; 42. Second gear; 43. Sector gear; 44. Second mounting plate; 45. Bearing; 46. First guide rail; 5. Z-axis lifting mechanism; 51. First mounting plate; 52. Bracket; 53. Second guide rail; 54. First slider; 55. Third driving component; 6. Y-axis moving mechanism; 61. Third guide rail; 62. Second slider; 63. Limit block; 64. Base plate; 7. Tightening shaft; 71. Guide frame; 711. Fixing block; 72. Linear guide rail; 73. Elastic mechanism; 731. First elastic element; 732. Second elastic element; 74. Limit sensor; 75. Sleeve; 76. Elastic sheet; 8. Visual positioning components. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. 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.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0022] like Figure 1 , Figure 2 and Figure 6As shown, this utility model provides an attitude adjustment and tightening device, including a chassis 1, an attitude adjustment robotic arm 2 mounted on the chassis 1, and a tightening shaft 7 mounted at the end of the attitude adjustment robotic arm 2. An X-axis moving mechanism 3, a Y-axis moving mechanism 6, a Z-axis lifting mechanism 5, and a pitch adjustment mechanism 4 are provided between the attitude adjustment robotic arm 2 and the chassis 1. These mechanisms adjust the position and angle of the attitude adjustment robotic arm 2, thereby adjusting the position and angle of the tightening shaft 7. The tightening shaft 7 is elastically connected to the attitude adjustment robotic arm 2, allowing it to elastically and adaptively fine-tune when aligning with the bolt, enabling the tightening shaft 7 to accurately position the bolt and achieve tightening.

[0023] This utility model automatically controls the position and angle of the tightening shaft 7 through the control system 13, and automatically controls the tightening of the bolts. The tightening torque is controllable, which facilitates disassembly, replacement or maintenance in the future. It has a high degree of automation, reduces manual operation, saves time and effort, and improves efficiency.

[0024] Example 1 like Figure 6 As shown, chassis 1 is an omnidirectional mobile chassis, including a vehicle body 11, a servo assembly, a battery system 12 and a control system 13. The servo assembly has a three-wheel layout, the battery system 12 is a lithium battery and is located at the rear of the vehicle body 11, and the control system 13 is located on one side of the battery system 12.

[0025] The control system 13 is connected to the attitude adjustment robot arm 2, the X-axis moving mechanism 3, the Y-axis moving mechanism 6, the Z-axis lifting mechanism 5, the pitch adjustment mechanism 4, and the tightening shaft 7. The control system 13 controls the adjustment of the attitude of the attitude adjustment robot arm 2 and the tightening of the tightening shaft 7.

[0026] In one embodiment, a visual positioning component 8 is provided at the end of the attitude adjustment robotic arm 2 near the tightening shaft 7. The visual positioning component 8 is connected to the control system 13. The control system 13 controls the movement of the attitude adjustment robotic arm 2 and the positioning and tightening of the tightening shaft 7 according to the detection signal of the visual positioning component 8. In this embodiment, the visual positioning component 8 can be a vision device such as a camera or a camera that can detect the position of the bolt.

[0027] like Figures 1 to 3 As shown, the top of the front end of the attitude adjustment robotic arm 2 is connected to the tightening shaft 7, and the bottom of the rear end of the attitude adjustment robotic arm 2 is connected to the X-axis moving mechanism 3. The X-axis moving mechanism 3 drives the attitude adjustment robotic arm 2 and the tightening shaft 7 to move in the X-axis direction, thereby adjusting the position of the tightening shaft 7 in the X-axis.

[0028] The X-axis moving mechanism 3 includes a first driving member 31 mounted on the attitude adjustment robotic arm 2. The output end of the first driving member 31 is provided with a first gear 32, which meshes with a first rack 33. The first rack 33 is mounted on the surface of the first mounting plate 51 of the Z-axis lifting mechanism 5. A first slide rail 34 is mounted along the X-axis on the side wall of the attitude adjustment robotic arm 2. When the first driving member 31 drives the first gear 32 to rotate, it drives the rack to move, thereby moving the attitude adjustment robotic arm 2 along the first slide rail 34. In this embodiment, the first driving member 31 is a servo motor, and its output end is connected to the first gear 32 via a planetary reducer.

[0029] The pitch adjustment mechanism 4 includes a second drive member 41, which is fixed on the first mounting plate 51 of the Z-axis lifting mechanism 5. The output end of the second drive member 41 is provided with a second gear 42, which meshes with a sector gear 43. The sector gear 43 is located on one side of the first mounting plate 51 and fixed to one end of the second mounting plate 44. The middle part of the second mounting plate 44 is hinged to the side wall of the first mounting plate 51. When the second drive member 41 drives the second gear 42 to rotate, it drives the sector gear 43 to rotate, thereby driving the second mounting plate 44 and the attitude adjustment robot arm 2 to rotate in the pitch direction, thereby adjusting the pitch angle of the attitude adjustment robot arm 2, and then adjusting the pitch angle of the tightening shaft 7.

[0030] In this embodiment, the second driving component 41 is a servo motor, and its output end is connected to the second gear 42 through a planetary reducer.

[0031] In this embodiment, the second mounting plate 44 is hinged to the first mounting plate 51 via a bearing 45, and the sector gear 43 is coaxially arranged with the bearing 45. The second mounting plate 44 has a first guide rail 46 on its side wall facing the attitude adjustment robot arm 2. The first guide rail 46 is arranged along the X-axis and cooperates with the first slide rail 34, so that the attitude adjustment robot arm 2 can move along the first guide rail 46.

[0032] The Z-axis lifting mechanism 5 includes a bracket 52, which is vertically arranged. A first mounting plate 51 is slidably connected to the side wall of the bracket 52 away from the second mounting plate 44, so as to lift relative to the bracket 52 along the Z-axis. In this embodiment, a second guide rail 53 is provided vertically along the Z-axis on the side wall of the bracket 52 facing the attitude adjustment robot arm 2. A first slider 54 is provided on the side wall of the first mounting plate 51, which is sleeved on the second guide rail 53 and can move on the second guide rail 53. A third drive member 55 is provided on the back of the bracket 52. The third drive member 55 is connected to the back of the side wall of the first mounting plate 51. The third drive member 55 drives the first mounting plate 51 to lift along the second guide rail 53, and at the same time drives the pitch adjustment mechanism 4, the X-axis adjustment mechanism and the attitude adjustment robot arm 2 to lift along the Z-axis, thereby driving the tightening shaft 7 to lift along the Z-axis to adjust the position of the tightening shaft 7 in the Z-axis direction.

[0033] The Y-axis moving mechanism 6 is located at the bottom of the Z-axis lifting mechanism 5. The Y-axis moving mechanism 6 includes a base plate 64, on which a third guide rail 61 is provided along the Y-axis. The bottom of the bracket 52 is provided with a second slider 62, which is sleeved on the third guide rail 61, so that the Y-axis moving mechanism 6 can move along the third guide rail 61, thereby driving the Z-axis lifting mechanism 5, the pitch adjustment mechanism 4, the X-axis adjustment mechanism and the adjustment robot arm 2 to move along the Y-axis, and then driving the tightening shaft 7 to move along the Y-axis to adjust the position of the tightening shaft 7 in the Y-axis direction.

[0034] In this embodiment, a limiting block 63 is provided at one end of the base plate 64. The limiting block 63 is located at the end of the third guide rail 61. When the bracket 52 moves along the third guide rail 61 to the position of the limiting block 63, the limiting block 63 stops the bracket 52.

[0035] like Figure 4 and Figure 5 As shown, the tightening shaft 7 is installed on the top surface of the front end of the attitude adjustment robot arm 2. The top surface of the attitude adjustment robot arm 2 is provided with a linear guide rail 72 along the axial direction of the tightening shaft 7. The bottom of the tightening shaft 7 is provided with a guide frame 71. The bottom of the guide frame 71 cooperates with the linear guide rail 72 so that the tightening shaft 7 is slidably connected to the attitude adjustment robot arm 2 and can move along the linear guide rail 72.

[0036] In a preferred embodiment, the tightening shaft 7 is flexibly fixed to the attitude adjustment robotic arm 2. Specifically, an elastic mechanism 73 is provided between the guide frame 71 and the tightening shaft 7. The elastic mechanism 73 is configured to drive the tightening shaft 7 to elastically extend and retract along its axial direction. In this embodiment, the elastic mechanism 73 includes a first elastic element 731 and a second elastic element 732. The first elastic element 731 is disposed at the end of the tightening shaft 7 near the attitude adjustment robotic arm 2 and is connected between the fixing block 711 at the end of the guide frame 71 and the tightening shaft 7. The second elastic element 732 is disposed at the end of the guide frame 71 away from the attitude adjustment robotic arm 2 and is connected between the guide frame 71 and the tightening shaft 7. The tightening shaft 7 is flexibly connected to the guide frame 71 through the first elastic element 731 and the second elastic element 732. The two have anisotropic flexibility, allowing the tightening shaft 7 to elastically and adaptively fine-tune in six degrees of freedom. This enables the tightening shaft 7 to automatically fine-tune its position when aligning with the bolt, allowing the tightening shaft 7 to accurately position the bolt and achieve tightening.

[0037] The side of the tightening shaft 7 is also provided with an elastic plate 76. When the tightening shaft 7 is installed on the posture adjustment robot arm 2, the elastic plate 76 can provide elastic force for fine adjustment of the tightening shaft 7 in the left and right directions.

[0038] The guide frame 71 is equipped with a limit sensor 74 near the end of the attitude adjustment robot arm 2. The limit sensor 74 is used to detect the position of the tightening shaft 7 on the attitude adjustment robot arm 2, so as to prevent the tightening shaft 7 from moving too far back and falling off the attitude adjustment robot arm 2.

[0039] The front end of the tightening shaft 7 is provided with a sleeve 75, which mates with the bolt to facilitate accurate bolt alignment. The inner wall of the sleeve 75 is polygonal, and a sleeve 75 with a corresponding inner wall shape can be replaced according to the shape of the bolt to be tightened. In this embodiment, the sleeve 75 is either a flexible sleeve 75 or a rigid sleeve 75.

[0040] In this embodiment, the tightening shaft 7 is an electric tightening shaft 7, which can be a servo tightening shaft 7 or a DC brushless impact tightening shaft 7.

[0041] This utility model adjusts the position and angle of the attitude adjustment robot arm 2 through the X-axis moving mechanism 3, the Y-axis moving mechanism 6, the Z-axis lifting mechanism 5 and the pitch adjustment mechanism 4, and then adjusts the position and angle of the tightening shaft 7, so as to adapt to tightening the bolts on the shovel plate in different postures.

[0042] The tightening shaft 7 is elastically connected to the attitude adjustment robotic arm 2, so that the tightening shaft 7 can elastically and adaptively adjust itself when aligning with the bolt, so that the tightening shaft 7 can accurately position the bolt and tighten it. This utility model automatically controls the position and angle of the tightening shaft 7 through the control system 13, and automatically controls the tightening of the bolt. The tightening torque is controllable, which facilitates disassembly, replacement or maintenance in the future. It has a high degree of automation, reduces manual operation, saves time and effort, and improves efficiency.

[0043] Example 2 like Figure 6 As shown, this utility model also provides a dual-axis attitude adjustment and tightening device, wherein the structure of the attitude adjustment and tightening device is the same as that of Embodiment 1, and will not be described again.

[0044] In this embodiment, two sets of attitude adjustment and tightening devices are provided, which are symmetrically arranged and connected to independent control systems 13 respectively, so as to independently adjust the position and tightening of the attitude adjustment and tightening devices and the tightening of the tightening shaft 7. The two control systems 13 are located on both sides of the battery system 12. Each attitude adjustment and tightening device has a vision positioning component 8 at the front end of the attitude adjustment robotic arm 2.

[0045] Two independent multi-degree-of-freedom attitude-adjusting robotic arms 2 are installed, each equipped with an independent tightening shaft 7. This allows for independent adjustment of the position and orientation of the tightening shaft 7, enabling simultaneous tightening of two bolts, improving work efficiency, and effectively eliminating tightening reaction force. The use of two independent vision positioning components 8 and a control system 13 easily handles the positioning and tightening of bolts with varying spacing, ensuring accurate bolt positioning and solving the problems of variable bolt distance and inconvenient manual adjustment in existing technologies. Furthermore, the control system 13 automatically controls the bolt tightening, providing controllable tightening torque, ensuring bolt fixation while facilitating subsequent disassembly and replacement.

[0046] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A posture-adjusting tightening device, characterized in that, include: Chassis; An attitude adjustment robotic arm is mounted on the chassis, and an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis lifting mechanism, and a pitch adjustment mechanism are provided between the attitude adjustment robotic arm and the chassis. as well as A tightening shaft is located at the end of the attitude adjustment robot arm. A guide frame is provided at the bottom of the tightening shaft. The guide frame is slidably connected to the attitude adjustment robot arm. An elastic mechanism is provided between the guide frame and the tightening shaft. The elastic mechanism is configured to allow the tightening shaft to elastically extend and retract along its axial direction.

2. The attitude adjustment and tightening device according to claim 1, characterized in that, It also includes a control system, which is connected to the attitude adjustment robot arm, the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis lifting mechanism, the pitch adjustment mechanism and the tightening shaft. The control system controls the adjustment of the attitude of the attitude adjustment robot arm and the tightening of the tightening shaft.

3. The attitude adjustment and tightening device according to claim 2, characterized in that, The attitude adjustment robotic arm is provided with a visual positioning component at the end near the tightening shaft. The visual positioning component is connected to the control system. The control system controls the movement of the attitude adjustment robotic arm and the positioning and tightening of the tightening shaft according to the detection signal of the visual positioning component.

4. The attitude adjustment and tightening device according to claim 2, characterized in that, The posture adjustment and tightening device is provided in two sets, which are symmetrically arranged and connected to an independent control system to adjust the posture of the posture adjustment and tightening device and the tightening of the tightening shaft independently.

5. The attitude adjustment and tightening device according to claim 4, characterized in that, The chassis includes a vehicle body, a servo assembly, a battery system, and the control system. The battery system is located at the rear of the vehicle body, and the two sets of control systems are located on both sides of the battery system.

6. The attitude adjustment and tightening device according to claim 1, characterized in that, The elastic mechanism includes: A first elastic element is disposed at one end of the tightening shaft near the attitude adjustment robot arm, and the first elastic element is connected between the fixing block at the end of the guide frame and the tightening shaft; A second elastic element is disposed at the end of the guide frame away from the attitude adjustment robot arm, and the second elastic element is connected between the guide frame and the tightening shaft.

7. The attitude adjustment and tightening device according to claim 6, characterized in that, The guide frame is equipped with a limit sensor at the end near the attitude adjustment robotic arm.

8. The attitude adjustment and tightening device according to claim 1, characterized in that, The X-axis moving mechanism is disposed at the bottom of the attitude adjustment robotic arm, and the X-axis moving mechanism includes: A first driving component is disposed on the attitude adjustment robotic arm, and a first gear is provided at the output end of the first driving component; The first rack is disposed on the surface of the first mounting plate of the Z-axis lifting mechanism; The first slide rail is set along the X-axis on the side wall of the attitude adjustment robot arm; The first gear meshes with the first rack. When the first driving member drives the first gear to rotate, it drives the rack to move, which in turn drives the attitude adjustment robot arm to move along the first slide rail.

9. The attitude adjustment and tightening device according to claim 8, characterized in that, The pitch adjustment mechanism includes: A second driving component is disposed on the first mounting plate, and a second gear is provided at the output end of the second driving component; A sector gear is fixed to one end of a second mounting plate, and the middle part of the second mounting plate is hinged to the side wall of the first mounting plate. The first guide rail is fixed to the side wall of the second mounting plate, and the first guide rail cooperates with the first slide rail; The second gear meshes with the sector gear. When the second drive unit drives the second gear to rotate, it drives the sector gear to rotate, thereby driving the second mounting plate and the attitude adjustment robot arm to rotate in the pitch direction.

10. The attitude adjustment and tightening device according to claim 9, characterized in that, The Z-axis lifting mechanism includes a bracket, with the first mounting plate slidably connected to the side wall away from the second mounting plate of the bracket to lift relative to the bracket along the Z-axis, and the bottom of the bracket slidably connected to the Y-axis moving mechanism to move relative to the Y-axis.

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