CN111390546A - Three-degree-of-freedom fastening device - Google Patents

Abstract

The invention provides a three-degree-of-freedom fastening device, which comprises: a first rail assembly; the second guide rail assembly is movably connected with the first guide rail assembly and can move along the length direction of the first guide rail assembly; the first sliding block is arranged on the second guide rail assembly and can move along the length direction of the second guide rail assembly; the lifting and rotating device is connected with the first sliding block; the lifting and rotating device comprises: a lifting assembly movable in a direction perpendicular to a plane formed by the first and second rail assemblies; the tightening assembly is connected with the lifting assembly and can rotate to tighten the to-be-fastened piece. The self-adaptive positioning device can self-adaptively position in a certain range, and consists of a mechanism which can self-adaptively move in a plane and can actively move in a vertical direction and a screwing component arranged on the mechanism, so that three degrees of freedom are realized, and the self-adaptive positioning device has the advantages of compact structure, centered gravity, light weight and the like.

Description

Three-degree-of-freedom fastening device

Technical Field

The invention relates to the technical field of self-adaptive positioning mechanisms, in particular to a three-degree-of-freedom fastening device.

Background

The application occasions such as machine manufacturing, construction operation, maintenance and repair face the requirements of active positioning, self-adaptive positioning bolts and fastening, the machine manufacturing implemented in a workshop at present generally adopts a robot to complete the situation of active positioning or self-adaptive positioning, but the structure of the robot is complex and expensive, the production cost is greatly improved, the bolt fastening in the field of site construction and maintenance and repair is completed manually, the bolts need to be accurately positioned and aligned for the bolt fastening operation, the fastening torque of the bolts needs to be borne, and the problems of high labor intensity and low working efficiency are caused by manual operation.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present invention is to provide a three-degree-of-freedom fastening device.

In view of the above, according to a first aspect of the present invention, there is provided a three-degree-of-freedom fastening device, comprising: a first rail assembly; the second guide rail assembly is movably connected with the first guide rail assembly and can move along the length direction of the first guide rail assembly; the first sliding block is arranged on the second guide rail assembly and can move along the length direction of the second guide rail assembly; the lifting and rotating device is connected with the first sliding block; the lifting and rotating device comprises: a lifting assembly movable in a direction perpendicular to a plane formed by the first and second rail assemblies; the tightening assembly is connected with the lifting assembly and can rotate to tighten the to-be-fastened piece.

The three-degree-of-freedom fastening device provided by the invention comprises a first guide rail assembly, a second guide rail assembly, a first slider and a lifting rotating device, wherein the second guide rail assembly is movably connected with the first guide rail assembly, the second guide rail assembly can move along the length direction of the first guide rail assembly, the first slider is arranged on the second guide rail assembly and can move along the length direction of the second guide rail assembly, namely, the first slider can move along the length direction of the second guide rail assembly and can move along the length direction of the first guide rail assembly together with the second guide rail assembly on a plane formed by the first guide rail assembly and the second guide rail assembly, namely, the first guide rail assembly, the second guide rail assembly and the first slider form a two-degree-of-freedom sliding mechanism, can realize the movement positioning in an XY plane, and has the advantages of simple structure, light weight and small volume, meanwhile, the whole mechanism can be ensured to be closer to a sliding plane by the aid of the smaller height, so that a sliding force arm is smaller, resistance in the sliding process is smaller, efficiency is higher, and sliding is more stable. Further, three degree of freedom fastener still includes lift rotary device, and lift rotary device is connected with first slider for lift rotary device can be along with first slider motion, thereby makes lift rotary device have two degrees of freedom, and further, lift rotary device includes: the lifting assembly can move in the direction perpendicular to the plane formed by the first guide rail assembly and the second guide rail assembly, the tightening assembly is connected with the lifting assembly, the tightening assembly can move and position in the Z direction along with the movement of the lifting assembly, the tightening assembly has three degrees of freedom, the tightening assembly can accurately reach the position of a fastener to be fastened, the self-adaptive alignment of the tightening assembly and the fastener to be fastened can be realized, a set torque is applied to the fastener to be fastened, and the fastener to be fastened is rotated and tightened.

The three-degree-of-freedom fastening device provided by the invention can be self-adaptively positioned in a certain range, and consists of a mechanism which can be self-adaptively moved in a plane and can be vertically and actively moved and a tightening assembly arranged on the mechanism, wherein the first guide rail assembly and the second guide rail assembly which are mutually perpendicular are adopted to realize linear movement in an XY plane and limit rotation in the XY plane, and meanwhile, the lifting assembly is used for realizing active movement in a Z direction, so that three degrees of freedom are realized. The automatic positioning device is particularly suitable for occasions without high-precision active positioning and fluctuation of the position of an operation object within a certain range, such as construction operation, maintenance sites and the like, and can enable automatic operation of self-adaptive positioning work of construction operation, maintenance and the like, greatly improve the operation efficiency and reduce the labor intensity.

In addition, the three-degree-of-freedom fastening device in the above technical solution provided by the present invention may also have the following additional technical features:

in the above technical solution, further, the first rail assembly and the second rail assembly are perpendicular to each other.

In the technical scheme, the first guide rail assembly and the second guide rail assembly are limited to be perpendicular to each other, so that the first sliding block can move and position in the X direction and the Y direction on a plane formed by the first guide rail assembly and the second guide rail assembly, and the first sliding block is further ensured to be accurately positioned on the plane formed by the first guide rail assembly and the second guide rail assembly.

In any of the above technical solutions, further, the number of the first guide rail assemblies is two, and the two first guide rail assemblies are arranged in parallel; the quantity of second guide rail assembly is two, and two second guide rail assembly parallel arrangement and length are equal.

In this technical scheme, two first guide rail set parallel arrangement, two second guide rail set parallel arrangement and length equal, also promptly, two second guide rail set and the first guide rail set that is located between two second guide rail set constitute the parallelogram jointly, can enough guarantee that first guide rail set is firm with being connected of second guide rail set, can make second guide rail set steady when moving along first guide rail set again. The three-degree-of-freedom fastening device provided by the invention adopts the two groups of guide rail assemblies to form the parallelogram sliding mechanism, the lifting rotating device is arranged in the inner area of the parallelogram, the whole three-degree-of-freedom fastening device is kept in geometric symmetry, the structural stability is better, the stress is more uniform, the transverse volume of the whole three-degree-of-freedom fastening device is effectively reduced, more working devices can be arranged in a limited area, and the working efficiency is improved.

In any of the above technical solutions, further, the three-degree-of-freedom fastening device further includes: a base; the first guide rail assembly is fixed on the base through the first support; the second sliding block is arranged on the first guide rail assembly and can move along the length direction of the first guide rail assembly, and the second sliding block is connected with the second guide rail assembly.

In the technical scheme, the three-degree-of-freedom fastening device further comprises a base, a first support and a second sliding block, wherein the first support is arranged on the base, the first guide rail assembly is fixed on the base through the first support, and the first support can make the first guide rail assembly overhead and bear the force transmitted by the first guide rail assembly; the first guide rail assembly is provided with a second sliding block which can move along the length direction of the first guide rail assembly, and the second sliding block is connected with the second guide rail assembly to realize the movement of the second guide rail assembly relative to the first guide rail assembly.

In any of the above solutions, further, the first rail assembly includes: the first guide rod is connected with the first support so as to be fixed on the base, and the second sliding block is sleeved on the first guide rod; the first elastic piece is sleeved on the first guide rod, the first end of the first elastic piece is fixed, the second end of the first elastic piece is connected with the second sliding block, and the second sliding block can compress or stretch the first elastic piece when moving on the first guide rod.

In this technical scheme, first guide rail subassembly includes first guide arm and first elastic component, thereby first guide arm is connected with first support and is fixed on the base, the second slider cover is established on first guide arm and can slide on first guide arm, first elastic component cover is established on first guide arm, and the first end of first elastic component is fixed, the second end is connected with the second slider, thereby make the first elastic component of second slider when moving on first guide arm, first elastic component can reply original position under the effect of elastic force after being compressed or tensile, make three degrees of freedom fastener possess the automatic re-setting function, can automatic re-setting after the action of every time, the accumulative error has been reduced greatly. In particular, the first elastic member may be a spring.

In any of the above technical solutions, further, the three-degree-of-freedom fastening device further includes: the second support is arranged on the base, the second support is sleeved on the first guide rod, and the first end of the first elastic piece is fixed on the second support.

In the technical scheme, the second support is arranged on the base, the second support is sleeved on the first guide rod, the first end of the first elastic piece is fixed on the second support, and the second support can make the first guide rail assembly overhead and bear the transmitted force of the first guide rail assembly and can be used as a reference datum for resetting the first elastic piece, so that the resetting of the first elastic piece is accurate. Specifically, the second support is arranged in the middle of the first guide rod, the number of the first elastic pieces is two, and the two first elastic pieces are respectively arranged on two sides of the second support.

In any of the above solutions, further, the second rail assembly includes: the end part of the second guide rod is connected with a second sliding block, and the first sliding block is sleeved on the second guide rod; the second elastic piece is sleeved on the second guide rod, the first end of the second elastic piece is fixed, the second end of the second elastic piece is connected with the first sliding block, and the first sliding block can compress or stretch the second elastic piece when moving on the second guide rod.

In the technical scheme, the second guide rail assembly comprises a second guide rod and a second elastic part, the end part of the second guide rod is connected with a second sliding block, the second sliding block is sleeved on the first guide rod and can slide on the first guide rod, so that the second sliding block drives the second guide rod to move relative to the first guide rod when sliding on the first guide rod, the second elastic part is sleeved on the second guide rod, the first end of the second elastic part is fixed, the second end of the second elastic part is connected with the first sliding block, so that the second elastic part can be compressed or stretched when the first sliding block moves on the second guide rod, the second elastic part can return to the original position under the action of the elastic force after being compressed or stretched, the fastening device has an automatic resetting function, the automatic resetting can be realized after each three-degree-of-freedom action, and the accumulated error is greatly reduced. In particular, the second elastic member may be a spring.

In any of the above solutions, further, the first rail assembly includes: the first guide rail is provided with a first sliding groove, and one end of the second guide rail assembly extends into the first sliding groove and can move along the first sliding groove; the first elastic piece is arranged in the first sliding groove, the first end of the first elastic piece is fixed, the second end of the first elastic piece is connected with the second guide rail assembly, and the second guide rail assembly can compress or stretch the first elastic piece when moving in the first sliding groove.

In the technical scheme, the first guide rail assembly comprises a first guide rail and a first elastic piece, a first sliding groove is formed in the first guide rail, and one end of the second guide rail assembly extends into the first sliding groove and can move along the first sliding groove; first elastic component sets up in first spout, and the first end of first elastic component is fixed, and the second end is connected with second guide rail assembly to make second guide rail assembly can compress or tensile first elastic component when moving in first spout, first elastic component can reply original position under the effect of elastic force after being compressed or tensile, make three degrees of freedom fastener possess the automatic re-setting function, all can automatic re-setting after the action of every turn, the accumulative total error that has significantly reduced. Specifically, the first guide rail may be fixed to the base or fixed to another component, so as to fix the first guide rail.

In any of the above solutions, further, the second rail assembly includes: the first sliding block is arranged in the second sliding groove and can move along the second sliding groove; the second elastic piece is arranged in the second sliding groove, the first end of the second elastic piece is fixed, the second end of the second elastic piece is connected with the first sliding block, and the first sliding block can compress or stretch the second elastic piece when moving in the second sliding groove.

In this technical scheme, the second guide rail subassembly includes second guide rail and second elastic component, be equipped with the second spout on the second guide rail, first slider sets up in the second spout and can follow the motion of second spout, the second elastic component sets up in the second spout, and the first end of second elastic component is fixed, the second end is connected with first slider, thereby make first slider can compress or tensile second elastic component when moving on the second guide arm, the second elastic component can be replied to original position under the effect of elastic force after being compressed or tensile, make three degrees of freedom fastener possess the automatic re-setting function, can automatic re-setting after the action each time, the accumulative total error has been reduced greatly.

In any one of the above technical scheme, further, lift rotary device still includes the slip table subassembly, and the slip table subassembly is connected with first slider, and the slip table subassembly includes: a sliding table base; the sliding table frame is connected with the sliding table base, a third guide rail is arranged on the sliding table frame, and the third guide rail is arranged along the height direction of the sliding table frame; and the third sliding block is connected with the third guide rail and can move along the third guide rail.

In this technical scheme, lifting and rotating device still includes the slip table subassembly, and the slip table subassembly is connected with first slider, specifically, under the condition that three degree of freedom fastener has two sets of first guide rail subassemblies and two sets of second guide rail subassemblies, the slip table subassembly can become a whole with two sets of first guide rail subassemblies, two sets of second guide rail subassemblies and two sets of first slider group, the steady motion of the slip table subassembly of being convenient for. Furthermore, the sliding table assembly comprises a sliding table base and a sliding table frame which are connected, a third guide rail arranged along the height direction of the sliding table frame is arranged on the sliding table frame, and a third sliding block capable of moving along the third guide rail is arranged on the third guide rail.

In any one of the above technical solutions, further, a first through hole is formed in the middle of the sliding table base, and the tightening assembly penetrates through the first through hole; the cross section of the sliding table frame is U-shaped, and the side wall of the sliding table frame is provided with at least one second through hole.

In the technical scheme, the middle part of the sliding table base is provided with a first through hole, and the tightening assembly penetrates through the first through hole, so that the tightening assembly is convenient to mount, the space is saved, and the gravity center of the three-degree-of-freedom fastening device is kept to be coincident with the geometric center as much as possible; further, the cross section of the sliding table frame is in a U shape, the sliding table frame is guaranteed to have enough structural rigidity in all directions, at least one second through hole is formed in the side wall of the sliding table frame, the weight reducing effect can be achieved, specifically, a plurality of weight reducing holes can be formed in the side wall of the sliding table frame, and therefore the overall weight of the three-degree-of-freedom fastening device is lighter.

In any one of the above technical solutions, further, the fixed end of the lifting assembly is connected with the third slider, and the telescopic end of the lifting assembly is connected with the sliding table base.

In this technical scheme, lifting unit's stiff end is connected and fastens together with the third slider, and lifting unit's flexible end is connected and fastens together with the slip table base, and lifting unit stretches out and draws back and drives the third slider and slide on the third guide rail, drives simultaneously and screws up the subassembly and reciprocate for screw up the subassembly and can realize the shift positioning in the Z direction along with lifting unit motion. Further, the tightening assembly is screwed up and is treated the in-process counter torque of fastener and transmitted for the third slider by the tightening assembly, transmit for the slip table subassembly through the third guide rail by the third slider again, owing to restricted the rotational degree of freedom of slip table subassembly in the plane, consequently, counter torque is transmitted for the second guide rail subassembly by the slip table subassembly in proper order again, first guide rail subassembly, transmit the base by first support at last, bear the tightening through the base and treat the in-process counter torque of fastener, because the structure of base is firm, and, can firmly fix the base, thereby can promote three degree of freedom fastener's steadiness, make it difficult not hard up, increase of service life.

In any of the above technical solutions, further, the lifting assembly includes at least one of an electric cylinder, a rack and pinion assembly, a lead screw nut assembly, or a cable fixed pulley assembly.

In this technical scheme, lifting unit includes at least one in electric jar, rack and pinion subassembly, screw nut subassembly or the cable fixed pulley subassembly, and the homoenergetic can realize linear motion, and simple structure, and the cost is lower, easily the batch production of product.

In any of the above technical solutions, further, the tightening assembly includes: one end of the tightening shaft is connected with the lifting component; the sleeve is connected with one end, far away from the lifting component, of the tightening shaft, and the sleeve is matched with the to-be-fastened piece so as to rotationally fix the to-be-fastened piece; a guide portion connected to an end of the sleeve remote from the tightening shaft, the guide portion being configured to be adapted to introduce a fastener into the sleeve.

In the technical scheme, the tightening assembly comprises a tightening shaft, a sleeve and a guide part, one end of the tightening shaft is connected with the lifting assembly, so that the lifting assembly can drive the tightening shaft to perform lifting motion, the sleeve is connected with one end, far away from the lifting assembly, of the tightening shaft, the sleeve is matched with the to-be-fastened piece, the tightening shaft rotates after the sleeve is aligned with the to-be-fastened piece, fastening torque is applied to the to-be-fastened piece, and the sleeve rotates to fix the to-be-fastened piece; at an end of the sleeve remote from the tightening shaft, a guide is provided, which is configured to be suitable for introducing a fastener into the sleeve. It can be understood that, the three-degree-of-freedom fastening device provided by the invention can ensure that the guide part is already positioned above the target fastener to be fastened and the fastener to be fastened is positioned within the coverage range of the guide part through rough positioning, when the lifting assembly pushes the fastening shaft downwards, the guide part is simultaneously driven to press the fastener to be fastened downwards, if the sleeve is not completely aligned with the bolt, under the action of the introduced taper of the guide part, the fastener to be fastened exerts a transverse force on the guide part, the transverse force pushes the whole three-degree-of-freedom fastening device to move in a plane formed by the first guide rail assembly and the second guide rail assembly until the sleeve is completely aligned with the fastener to be fastened, and after the alignment, the fastening shaft rotates to exert a fastening torque on the fastener to fix the.

In any of the above technical solutions, further, the guide portion is a flaring structure, and an opening size of the flaring structure increases from an end connected with the sleeve to an end away from the sleeve.

In the technical scheme, the guide part is specifically limited to be a flaring structure, the opening size of the flaring structure is increased from one end connected with the sleeve to one end far away from the sleeve, namely, the lower end opening of the guide part is larger than the upper end opening, the fastener to be fastened is easy to be positioned in the coverage range of the guide part, in the process that the guide part presses the fastener to be fastened downwards, the fastener to be fastened is easy to push the side wall of the guide part, and under the effect of the introduced taper of the side wall of the guide part, the whole three-degree-of-freedom fastening device is gradually moved until the sleeve and the fastener to be fastened are completely aligned.

In any of the above technical solutions, further, the three-degree-of-freedom fastening device further includes: and the linear motion part is arranged between the first slide block and the second guide rail assembly and/or between the first guide rail assembly and the second slide block of the three-degree-of-freedom fastening device.

In this technical scheme, three degree of freedom fastener still includes the linear motion spare, and the linear motion spare is used for reducing the frictional force between two spare parts that are connected through the linear motion spare for two spare parts that are connected through the linear motion spare resistance is little when relative motion, and slides smoothly, realizes low resistance linear motion, also can avoid the wearing and tearing of spare part, prolongs the life of product. Specifically, the linear motion member is disposed between the first slider and the second guide rail assembly and/or the linear motion member is disposed between the first guide rail assembly and the second slider of the three-degree-of-freedom fastening device. Specifically, the linear motion member may be a linear bearing, a roller, or the like.

The three-degree-of-freedom fastening device can be self-adaptively positioned in a certain range, realizes linear movement in an XY plane by adopting the first guide rail assembly and the second guide rail assembly which are perpendicular to each other, limits rotation in the XY plane, realizes active movement in the Z direction by using the lifting assembly, realizes three degrees of freedom, and has the advantages of compact structure, geometric symmetry of the whole three-degree-of-freedom fastening device, center of gravity, light weight and the like. The automatic positioning device is particularly suitable for occasions without high-precision active positioning and fluctuation of the position of an operation object within a certain range, such as construction operation, maintenance sites and the like, and can enable automatic operation of self-adaptive positioning work of construction operation, maintenance and the like, greatly improve the operation efficiency and reduce the labor intensity.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural diagram of a three-degree-of-freedom fastening device according to an embodiment of the present invention;

FIG. 2 is a schematic partial structural view of a three-degree-of-freedom fastening device according to an embodiment of the present invention;

FIG. 3 is a partial schematic structural view of a three-degree-of-freedom fastening device according to another embodiment of the present invention;

fig. 4 is a schematic structural diagram of a slide table assembly of a three-degree-of-freedom fastening device according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 4 is:

100 three-degree-of-freedom fastening device, 110 first guide rail assembly, 112 first guide rod, 114 first elastic part, 116 first guide rail, 118 first sliding groove, 120 second guide rail assembly, 122 second guide rod, 124 second elastic part, 126 second guide rail, 128 second sliding groove, 130 first sliding block, 140 lifting assembly, 150 screwing assembly, 152 screwing shaft, 154 sleeve, 156 guide part, 158 motor, 160 base, 162 first support, 164 second sliding block, 166 second support, 170 sliding table assembly, 172 sliding table base, 173 first through hole, 174 sliding table frame, 175 second through hole, 176 third guide rail, 178 third sliding block and 180 linear motion part.

Detailed Description

So that the manner in which the above recited aspects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A three-degree-of-freedom fastening apparatus 100 according to some embodiments of the present invention is described below with reference to fig. 1 through 4.

Example one

As shown in fig. 1 to 3, a first aspect of the present invention provides a three-degree-of-freedom fastening device 100, where the three-degree-of-freedom fastening device 100 includes a first guide rail assembly 110, a second guide rail assembly 120, a first slider 130, and a lifting and rotating device, and the lifting and rotating device includes: a lifting assembly 140 and a tightening assembly 150, the lifting assembly 140 being movable in a direction perpendicular to a plane formed by the first rail assembly 110 and the second rail assembly 120; a tightening assembly 150 is coupled to the lift assembly 140, the tightening assembly 150 being rotatable to tighten the member to be fastened.

The three-degree-of-freedom fastening device 100 provided by the invention comprises a first guide rail assembly 110, a second guide rail assembly 120, a first slider 130 and a lifting and rotating device, wherein the second guide rail assembly 120 is movably connected with the first guide rail assembly 110, the second guide rail assembly 120 can move along the length direction of the first guide rail assembly 110, the first slider 130 is arranged on the second guide rail assembly 120 and can move along the length direction of the second guide rail assembly 120, that is, the first slider 130 can move along the length direction of the second guide rail assembly 120 and can also move along the length direction of the first guide rail assembly 110 along with the second guide rail assembly 120 on a plane formed by the first guide rail assembly 110 and the second guide rail assembly 120, that is, the first guide rail assembly 110, the second guide rail assembly 120 and the first slider 130 form a two-sliding mechanism, so that the moving and positioning in the XY plane can be realized, the sliding mechanism has the advantages of simple structure, light weight and small size, and meanwhile, the sliding mechanism has smaller height, so that the whole mechanism is closer to a sliding plane, the sliding force arm is smaller, the resistance in the sliding process is smaller, the efficiency is higher, and the sliding is more stable. Further, the three-degree-of-freedom fastening device 100 further includes a lifting and rotating device connected to the first slider 130, such that the lifting and rotating device can move along with the first slider 130, such that the lifting and rotating device has two degrees of freedom, and further, the lifting and rotating device includes: the lifting assembly 140 and the tightening assembly 150, the lifting assembly 140 can move in a direction perpendicular to a plane formed by the first guide rail assembly 110 and the second guide rail assembly 120, the tightening assembly 150 is connected with the lifting assembly 140, the tightening assembly 150 can move and position in a Z direction along with the movement of the lifting assembly 140, the tightening assembly 150 has three degrees of freedom, the tightening assembly 150 can accurately reach a position to be fastened, the self-adaptive alignment of the tightening assembly 150 and the to-be-fastened piece can be realized, a set torque can be applied to the to-be-fastened piece, and the to-be-fastened piece can be rotated and tightened.

As shown in fig. 1, fig. 2 and fig. 3, the three-degree-of-freedom fastening device 100 provided by the present invention can be adaptively positioned within a certain range, and is composed of a mechanism capable of adaptively moving in a plane and actively moving in a vertical direction and a tightening assembly 150 installed on the mechanism, wherein the first guide rail assembly 110 and the second guide rail assembly 120 which are perpendicular to each other are adopted to realize linear movement in an XY plane, so as to limit rotation in the XY plane, and the lifting assembly 140 is used to realize active movement in a Z direction, so as to realize three degrees of freedom, thereby having the advantages of compact structure, symmetrical geometry of the whole three-degree-of-freedom fastening device 100, centered center, light weight, etc. The automatic positioning device is particularly suitable for occasions without high-precision active positioning and fluctuation of the position of an operation object within a certain range, such as construction operation, maintenance sites and the like, and can enable automatic operation of self-adaptive positioning work of construction operation, maintenance and the like, greatly improve the operation efficiency and reduce the labor intensity.

Further, as shown in fig. 1, 2 and 3, the first rail assembly 110 and the second rail assembly 120 are perpendicular to each other. By defining the first rail assembly 110 and the second rail assembly 120 to be perpendicular to each other, so that the first slider 130 is located on the plane formed by the first rail assembly 110 and the second rail assembly 120, the moving location in both directions of the X direction and the Y direction can be realized, and the accurate location of the first slider 130 on the plane formed by the first rail assembly 110 and the second rail assembly 120 is further ensured.

Example two

On the basis of the first embodiment, as shown in fig. 1, 2 and 3, the number of the first guide rail assemblies 110 is two, and the two first guide rail assemblies 110 are arranged in parallel; the number of the second rail assemblies 120 is two, and the two second rail assemblies 120 are arranged in parallel and have the same length. Two first rail set spares 110 set up in parallel, and two second rail set spares 120 set up in parallel and length equals, that is, two second rail set spares 120 and the first rail set spares 110 that is located between two second rail set spares 120 constitute the parallelogram jointly, can enough guarantee that first rail set spares 110 is firm with being connected of second rail set spares 120, can make second rail set spare 120 steady when moving along first rail set spare 110 again. The three-degree-of-freedom fastening device provided by the invention adopts the two groups of guide rail assemblies to form the parallelogram sliding mechanism, the lifting rotating device is arranged in the inner area of the parallelogram, the whole three-degree-of-freedom fastening device is kept in geometric symmetry, the structural stability is better, the stress is more uniform, the transverse volume of the whole three-degree-of-freedom fastening device is effectively reduced, more working devices can be arranged in a limited area, and the working efficiency is improved.

EXAMPLE III

On the basis of the first embodiment or the second embodiment, as shown in fig. 1 and fig. 2, the three-degree-of-freedom fastening device 100 further includes: a base 160; a first support 162 disposed on the base 160, the first rail assembly 110 being fixed to the base 160 by the first support 162; and a second slider 164 disposed on the first rail assembly 110, the second slider 164 being movable along a length direction of the first rail assembly 110, the second slider 164 being connected to the second rail assembly 120.

In this embodiment, the three-degree-of-freedom fastening device 100 further includes a base 160, a first support 162 and a second slider 164, the first support 162 is disposed on the base 160, the first rail assembly 110 is fixed on the base 160 through the first support 162, and the first support 162 can support the first rail assembly 110 overhead and bear the force transmitted by the first rail assembly 110; a second slider 164 is disposed on the first rail assembly 110 and is movable along the length direction of the first rail assembly 110, and the second slider 164 is connected to the second rail assembly 120 to realize the movement of the second rail assembly 120 relative to the first rail assembly 110.

In one embodiment of the present invention, further, as shown in fig. 1 and 2, the first guide rail assembly 110 includes: the first guide rod 112, the first guide rod 112 is connected with the first support 162 to be fixed on the base 160, and the second sliding block 164 is sleeved on the first guide rod 112; the first elastic member 114 is sleeved on the first guide rod 112, a first end of the first elastic member 114 is fixed, a second end of the first elastic member 114 is connected with the second sliding block 164, and the second sliding block 164 can compress or stretch the first elastic member 114 when moving on the first guide rod 112.

In this embodiment, the first guiding rail assembly 110 includes a first guiding rod 112 and a first elastic member 114, the first guiding rod 112 is connected to a first support 162 and fixed on the base 160, the second sliding block 164 is sleeved on the first guiding rod 112 and can slide on the first guiding rod 112, the first elastic member 114 is sleeved on the first guiding rod 112, a first end of the first elastic member 114 is fixed, and a second end of the first elastic member 114 is connected to the second sliding block 164, so that the second sliding block 164 can compress or stretch the first elastic member 114 when moving on the first guiding rod 112, and the first elastic member 114 can return to an original position under the effect of elastic force after being compressed or stretched, so that the three-degree-of-freedom fastening device 100 has an automatic resetting function, and can automatically reset after each movement, thereby greatly reducing an accumulated error. Specifically, the first elastic member 114 may be a spring.

Further, as shown in fig. 1 and 2, a second support 166 is disposed on the base 160, the second support 166 is sleeved on the first guide rod 112, and the first end of the first elastic element 114 is fixed on the second support 166, and the second support 166 can both suspend the first rail assembly 110 and bear the force transmitted by the first rail assembly, and can also serve as a reference for resetting the first elastic element 114, so that the resetting of the first elastic element 114 is accurate. Specifically, the second support 166 is disposed in the middle of the first guide bar 112, the number of the first elastic members 114 is two, and two first elastic members 114 are disposed on both sides of the second support 166, respectively.

Further, as shown in fig. 1 and 2, the second guiding rail assembly 120 includes a second guiding rod 122 and a second elastic member 124, an end of the second guiding rod 122 is connected to a second sliding block 164, the second sliding block 164 is sleeved on the first guiding rod 112 and can slide on the first guiding rod 112, so that the second sliding block 164 slides on the first guiding rod 112 to drive the second guiding rod 122 to move relative to the first guiding rod 112, the second elastic member 124 is sleeved on the second guiding rod 122, a first end of the second elastic member 124 is fixed, a second end is connected to the first sliding block 130, so that the first sliding block 130 can compress or stretch the second elastic member 124 when moving on the second guiding rod 122, and the second elastic member 124 can return to an original position under the effect of the elastic force after being compressed or stretched, so that the fastening device 100 has an automatic resetting function, and automatically resets after each movement, the accumulated error is greatly reduced. Specifically, the second elastic member 124 may be a spring.

In another embodiment of the present invention, further, as shown in fig. 3, the first rail assembly 110 includes: a first guide rail 116, wherein a first sliding slot 118 is arranged on the first guide rail 116, and one end of a second guide rail assembly 120 extends into the first sliding slot 118 and can move along the first sliding slot 118; a first elastic member (not shown) disposed in the first sliding groove 118, a first end of the first elastic member being fixed, a second end of the first elastic member being connected to the second rail assembly 120, the second rail assembly 120 being capable of compressing or stretching the first elastic member when moving in the first sliding groove 118.

In this embodiment, the first rail assembly 110 includes a first rail 116 and a first elastic member, the first rail 116 is provided with a first sliding slot 118, and one end of the second rail assembly 120 extends into the first sliding slot 118 and can move along the first sliding slot 118; the first elastic part is arranged in the first sliding groove 118, the first end of the first elastic part is fixed, and the second end of the first elastic part is connected with the second guide rail component 120, so that the second guide rail component 120 can compress or stretch the first elastic part when moving in the first sliding groove 118, the first elastic part can return to the original position under the action of elastic force after being compressed or stretched, the three-degree-of-freedom fastening device 100 has an automatic resetting function, the automatic resetting can be realized after each action, and the accumulated error is greatly reduced. Specifically, the first rail 116 may be fixed to the base 160 or other components, so as to fix the first rail 116.

Further, as shown in fig. 3, the second guide rail assembly 120 includes a second guide rail 126 and a second elastic member (not shown in the figure), the second guide rail 126 is provided with a second sliding groove 128, the first sliding block 130 is disposed in the second sliding groove 128 and can move along the second sliding groove 128, the second elastic member is disposed in the second sliding groove 128, a first end of the second elastic member is fixed, and a second end of the second elastic member is connected to the first sliding block 130, so that the first sliding block 130 can compress or stretch the second elastic member when moving on the second guide rod 122, and the second elastic member can return to an original position under the action of the elastic force after being compressed or stretched, so that the three-degree-of-freedom fastening device 100 has an automatic resetting function, and can automatically reset after each action, thereby greatly reducing an accumulated error.

Example four

As shown in fig. 1 and 4, in any of the above embodiments, further, the lifting and rotating device further includes a sliding table assembly 170, the sliding table assembly 170 is connected to the first sliding block 130, and the sliding table assembly 170 includes: a slide base 172; the sliding table frame 174 is connected with the sliding table base 172, a third guide rail 176 is arranged on the sliding table frame 174, and the third guide rail 176 is arranged along the height direction of the sliding table frame 174; and a third slider 178, the third slider 178 being connected to the third rail 176 and being movable along the third rail 176.

In this embodiment, the lifting and rotating device further includes a sliding table assembly 170, and the sliding table assembly 170 is connected to the first sliding block 130, specifically, in the case that the three-degree-of-freedom fastening device 100 has two sets of the first guide rail assemblies 110 and two sets of the second guide rail assemblies 120, the sliding table assembly 170 can combine the two sets of the first guide rail assemblies 110, the two sets of the second guide rail assemblies 120, and the two sets of the first sliding blocks 130 into a whole, so as to facilitate stable movement of the sliding table assembly 170. Further, the slide table assembly 170 includes a slide table base 172 and a slide table frame 174, which are connected to each other, a third guide rail 176 disposed along the height direction of the slide table frame 174 is disposed on the slide table frame 174, and a third slide block 178 capable of moving along the third guide rail 176 is disposed on the third guide rail 176.

As shown in fig. 1 and 4, further, the middle of the sliding table base 172 has a first through hole 173, and the tightening assembly 150 penetrates through the first through hole 173, so that the tightening assembly 150 is installed conveniently, space is saved, and the center of gravity of the three-degree-of-freedom fastening device 100 is kept to coincide with the geometric center as much as possible; further, the cross section of the sliding table frame 174 is U-shaped, so that the sliding table frame 174 has sufficient structural rigidity in each direction, at least one second through hole 175 is formed in the side wall of the sliding table frame 174, and a weight reduction effect can be achieved, and specifically, a plurality of weight reduction holes can be formed in the side wall of the sliding table frame 174, so that the overall weight of the three-degree-of-freedom fastening device 100 is lighter.

As shown in fig. 1, further, the fixed end of the lifting assembly 140 is connected and fastened to the third sliding block 178, the telescopic end of the lifting assembly 140 is connected and fastened to the sliding table base 172, the lifting assembly 140 stretches and retracts to drive the third sliding block 178 to slide on the third guide rail 176 and drive the tightening assembly 150 to move up and down, so that the tightening assembly 150 can move and position in the Z direction along with the movement of the lifting assembly 140. Further, the counter moment of the tightening assembly 150 during tightening the to-be-fastened member is transmitted to the third slider 178 by the tightening assembly 150, and then transmitted to the slide table assembly 170 by the third slider 178 through the third guide rail 176, because the rotational freedom of the slide table assembly 170 in the plane is limited, the counter moment is sequentially transmitted to the second guide rail assembly 120 and the first guide rail assembly 110 by the slide table assembly 170, and finally transmitted to the base 160 by the first bracket, and the counter moment during tightening the to-be-fastened member is borne by the base 160, because the structure of the base 160 is stable, and the base 160 can be firmly fixed, the stability of the three-degree-of-freedom fastening device 100 can be improved, the three-degree-of-freedom fastening device is not easy to loosen, and the service life is prolonged.

Further, the lifting assembly 140 includes at least one of an electric cylinder, a rack and pinion assembly, a lead screw nut assembly or a cable fixed pulley assembly, all of which can realize linear motion, and has simple structure, low cost and easy mass production of products.

In any of the above embodiments, further, as shown in fig. 1, the tightening assembly 150 includes a tightening shaft 152, a sleeve 154, and a guide portion 156, one end of the tightening shaft 152 is connected to the lifting assembly 140, so that the lifting assembly 140 can bring the tightening shaft 152 into a lifting motion, the sleeve 154 is connected to one end of the tightening shaft 152 away from the lifting assembly 140, the sleeve 154 is fitted to the to-be-fastened member, the tightening shaft 152 is rotated after the sleeve 154 is aligned with the to-be-fastened member, and a tightening torque is applied to the to-be-fastened member, so that the sleeve 154 is rotated to fix the to-be-fastened member; at an end of the sleeve 154 remote from the tightening shaft 152, a guide portion 156 is provided, the guide portion 156 being configured and adapted to guide a fastener to be fastened into the sleeve 154. It can be understood that, in the three-degree-of-freedom fastening device 100 provided by the present invention, the guiding portion 156 is already located above the target fastener and the fastener is located within the coverage of the guiding portion 156 by rough positioning, when the lifting assembly 140 pushes the tightening shaft 152 downward while driving the guiding portion 156 to press the fastener downward, if the sleeve 154 is not completely aligned with the bolt, the fastener applies a lateral force to the guiding portion 156 under the effect of the taper introduced by the guiding portion 156, the lateral force pushes the entire three-degree-of-freedom fastening device 100 to move in the plane formed by the first rail assembly 110 and the second rail assembly 120 until the sleeve 154 and the fastener are completely aligned, and after the alignment, the tightening shaft 152 rotates to apply a tightening torque to the fastener, thereby fixing the fastener. Specifically, the tightening assembly 150 further includes a motor 158, the motor 158 being configured to drive the tightening shaft 152 in rotation.

Further, as shown in fig. 1, the guiding portion 156 is a flaring structure, the opening size of the flaring structure increases from the end connected with the sleeve 154 to the end far away from the sleeve 154, that is, the lower end opening of the guiding portion 156 is larger than the upper end opening, the fastener to be fastened is easy to be located within the coverage range of the guiding portion 156, and during the process that the guiding portion 156 presses the fastener to be fastened downwards, the fastener to be fastened is easy to push the side wall of the guiding portion 156, and under the action of the introduced taper of the side wall of the guiding portion 156, the whole three-degree-of-freedom fastening device 100 is gradually moved until the sleeve 154 and the fastener to be fastened are completely aligned.

In any of the above embodiments, further, as shown in fig. 2, the three-degree-of-freedom fastening device 100 further includes a linear moving element 180, and the linear moving element 180 is configured to reduce a friction force between two components connected by the linear moving element 180, so that the two components connected by the linear moving element 180 have small resistance when sliding relatively, and slide smoothly, and realize low-resistance linear movement, and also can avoid wear of the components, and prolong a service life of the product. Specifically, the linear motion member 180 is disposed between the first slider 130 and the second guide rail assembly 120 and/or the linear motion member 180 is disposed between the first guide rail assembly 110 and the second slider 164 of the three-degree-of-freedom fastening device 100. Specifically, the linear motion member 180 may be a linear bearing, a roller, or the like.

Further, as shown in fig. 1 to 4, the three-degree-of-freedom fastening device 100 provided by the present invention can be applied to railway construction and maintenance equipment, the three-degree-of-freedom fastening device 100 provided by the present invention can be self-adaptively positioned within a certain range, linear movement in the XY plane is realized by using the first guide rail assembly 110 and the second guide rail assembly 120 that are perpendicular to each other, rotation in the XY plane is limited, active movement in the Z direction is realized by using the lifting assembly 140, three degrees of freedom are realized, and the present invention has the advantages of compact structure, geometric symmetry of the whole three-degree-of-freedom fastening device 100, centered center of gravity, light weight, etc. The automatic positioning device is particularly suitable for occasions without high-precision active positioning and fluctuation of the position of an operation object within a certain range, such as construction operation, maintenance sites and the like, and can enable automatic operation of self-adaptive positioning work of construction operation, maintenance and the like, greatly improve the operation efficiency and reduce the labor intensity.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

As shown in fig. 1 to 4, the three-degree-of-freedom fastening device 100 provided by the present invention can achieve adaptive alignment of the sleeve 154 and the bolt (to-be-fastened member), and apply a set torque to the bolt, and has the following structure:

as shown in fig. 1 and 2, the three-degree-of-freedom fastening device 100 is provided with a base 160, the base 160 is a mounting base of the entire three-degree-of-freedom fastening device 100, four sets of first supports 162 are provided on the base 160 and fastened with the base 160, two sets of first guide rail assemblies 110 are mounted on the first supports 162 and arranged in parallel, a second support 166 is respectively provided in the middle of each set of first guide rail assemblies 110, four sets of second sliders 164 are provided on each set of first guide rail assemblies 110, linear bearings (linear motion members 180) are mounted inside the second sliders 164, the linear bearings are sleeved outside the first guide rail assemblies 110, a first elastic member 114 (spring) is provided between each set of second sliders 164 and the second support 166, four sets in total, the first elastic members 114 are sleeved outside the first guide rail assemblies 110, two first elastic members 114 mounted on the same first guide rail assembly 110 form a pair of first elastic members 114, the balance between the two slide blocks 164 is such that the second slide block 164 is in the middle position, when the second slide block 164 slides on the first rail assembly 110, the first elastic member 114 on one side is compressed and the first elastic member 114 on the other side is released, and the thrust difference of the first elastic members 114 on the two sides causes the second slide block 164 to return to the original position.

As shown in fig. 1 and 2, two sets of second rail assemblies 120 perpendicular to the first rail assemblies 110 are disposed between the two sets of parallel first rail assemblies 110, the second rail assemblies 120 are connected to the first rail assemblies 110 through second sliders 164, and the second rail assemblies 120 and the first rail assemblies 110 form a parallelogram. Two groups of first sliding blocks 130 with linear bearings are arranged on two groups of second guide rail assemblies 120, one second elastic part 124 is arranged between each group of first sliding blocks 130 and the second sliding blocks 164, the number of the second elastic parts 124 is four, the second elastic parts 124 are sleeved outside the second guide rail assemblies 120, the two second elastic parts 124 arranged on the same second guide rail assembly 120 form a pair of second elastic part 124 groups, the first sliding blocks 130 are balanced with each other to enable the first sliding blocks 130 to be in a middle position, when the first sliding blocks 130 slide on the second guide rail assemblies 120, the second elastic parts 124 on one side are compressed to release the second elastic parts 124 on the other side, and the thrust difference of the second elastic parts 124 on the two sides enables the first sliding blocks 130 to restore to an initial position.

As shown in fig. 1 and 2, the two sets of first sliding blocks 130 are provided with the sliding table assembly 170, the sliding table assembly 170 integrates the two sets of second guide rail assemblies 120 and the two sets of first sliding blocks 130, the sliding table assembly 170 is composed of two parts, namely a sliding table base 172 and a sliding table frame 174, the sliding table base 172 is parallel to a plane formed by the first guide rail assembly 110 and the second guide rail assembly 120, and the sliding table frame 174 is perpendicular to the sliding table base 172. Two sets of third guide rails 176 which are symmetrically arranged are arranged on the sliding table assembly 170, and the third guide rails 176 are perpendicular to the sliding table base 172. The center of the slide mount 172 is provided with a through hole to accommodate the tightening shaft 152 and to save space, keeping the center of gravity of the mechanism as close as possible to the geometric center. An electric cylinder is arranged in the middle of the sliding table base 172 to drive the tightening shaft 152 to move vertically on the sliding table base 172, and vertical third guide rails 176 are arranged on the sliding table frame 174 on two sides of the tightening shaft 152 to provide guidance and support for the tightening shaft 152 to move vertically, so that a vertical space is effectively utilized.

As shown in fig. 1 and 2, a third sliding block 178 with a linear bearing passes through the third guide rail 176 and can slide along the third guide rail 176, a tightening shaft 152 and an electric cylinder (lifting assembly 140) are mounted on the third sliding block 178, the fixed end of the electric cylinder is mounted on the third sliding block 178 and fastened with the third sliding block 178, the extending end of the electric cylinder is connected to and fastened with the sliding table base 172, the electric cylinder extends and retracts to drive the third sliding block 178 to slide on the third guide rail 176 and drive the tightening shaft 152 to move up and down, a sleeve 154 matched with a bolt and a guide portion 156 are mounted on the tightening shaft 152, and the guide portion 156 has a lead-in taper angle.

As shown in fig. 1, fig. 2 and fig. 4, the three-degree-of-freedom fastening device 100 provided by the present invention operates according to the following principle: before the three-degree-of-freedom fastening device 100 works, the rough positioning ensures that the sleeve 154 and the guide part 156 are positioned above the target bolt and the bolt is positioned in the coverage range of the guide part 156, when the electric cylinder pushes the tightening shaft 152 downwards, the guide part 156 is driven to press the bolt downwards, if the sleeve 154 is not completely aligned with the bolt, under the action of the introduced taper, the bolt exerts a transverse force on the guide part 156, the transverse force pushes the whole three-degree-of-freedom fastening device 100 to move in the plane formed by the first guide rail assembly 110 and the second guide rail assembly 120 (namely the plane of the bolt) until the sleeve 154 and the bolt are completely aligned, after the alignment, the tightening shaft 152 rotates, and exerts a tightening torque on the bolt, the counter torque during the tightening process is transmitted to the third slide block 178 by the tightening shaft 152 and then transmitted to the sliding table assembly 170 by the third guide rail 176, and the rotation freedom degree of the sliding table assembly 170 in the plane is limited, therefore, the counter torque is sequentially transmitted to the second rail assembly 120 and the first rail assembly 110 by the sliding table assembly 170, and finally transmitted to the base 160 by the first bracket, after the bolt is fastened, the electric cylinder is extended to drive the tightening shaft 152 to lift the sleeve 154 and the guide portion 156 together, and after the sleeve 154, the guide portion 156 and the bolt are separated, the first elastic member 114 and the second elastic member 124 respectively push the second sliding block 164 and the first sliding block 130 to return to the middle position.

The three-degree-of-freedom tightening device provided by the invention adopts two groups of first guide rail assemblies 110 and two groups of second guide rail assemblies 120 to form a two-degree-of-freedom sliding mechanism, adopts a self-adaptive passive positioning principle, has an automatic reset function, can automatically reset after each action, and has no accumulated error; compared with the active sliding positioning adopted in the related technology, the mechanism has better flexibility, thereby improving the success rate of positioning; meanwhile, compared with an active positioning mechanism, electric elements such as a driving motor and a position sensor are omitted, the control logic is simpler, and the reliability is higher; and, have simple structure, light in weight, small advantage, it can guarantee that whole mechanism more is close to the slip plane to have a lower height simultaneously, makes the arm of force that slides littleer, and the resistance of slip process is littleer more efficient, slides more stably. The two groups of first guide rail assemblies 110 and the two groups of second guide rail assemblies 120 form a parallelogram sliding mechanism, the lifting and rotating device is arranged in the inner area of the parallelogram, the whole mechanism is kept geometrically symmetrical, the structural stability is better, the stress is more uniform, the transverse volume of the whole mechanism is effectively reduced, more working devices can be arranged in a limited area, and the working efficiency is improved.

Furthermore, the three-degree-of-freedom screwing device provided by the invention adopts the cylindrical guide rods as the first guide rail assembly 110, the second guide rail assembly 120 and the third guide rail 176, the cylindrical guide rods and the linear bearings are stressed more uniformly, not only can bear positive pressure, but also can bear bending moment, and the three-degree-of-freedom screwing device is simpler in structure, lower in price and easy to maintain.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (16)

1. A three degree-of-freedom fastening device, comprising:

a first rail assembly;

a second rail assembly movably connected to the first rail assembly, the second rail assembly being movable along a length of the first rail assembly;

the first sliding block is arranged on the second guide rail assembly and can move along the length direction of the second guide rail assembly;

the lifting and rotating device is connected with the first sliding block; the lifting and rotating device comprises:

a lift assembly movable in a direction perpendicular to a plane formed by the first and second rail assemblies;

a tightening assembly connected with the lifting assembly, the tightening assembly being rotatable to tighten a fastener.

2. The three-degree-of-freedom fastening device according to claim 1,

the first guide rail assembly and the second guide rail assembly are perpendicular to each other.

3. The three-degree-of-freedom fastening device according to claim 1,

the number of the first guide rail assemblies is two, and the two first guide rail assemblies are arranged in parallel;

the number of the second guide rail assemblies is two, and the two second guide rail assemblies are arranged in parallel and have equal length.

4. A three-degree-of-freedom fastening apparatus according to any one of claims 1 to 3, further comprising:

a base;

the first guide rail assembly is fixed on the base through the first support;

the second sliding block is arranged on the first guide rail assembly and can move along the length direction of the first guide rail assembly, and the second sliding block is connected with the second guide rail assembly.

5. The three degree-of-freedom fastening device of claim 4, wherein the first rail assembly includes:

the first guide rod is connected with the first support so as to be fixed on the base, and the second sliding block is sleeved on the first guide rod;

the first elastic piece is sleeved on the first guide rod, the first end of the first elastic piece is fixed, the second end of the first elastic piece is connected with the second sliding block, and the second sliding block can compress or stretch the first elastic piece when moving on the first guide rod.

6. The three-degree-of-freedom fastening device according to claim 5, further comprising:

the second support is arranged on the base, the second support is sleeved on the first guide rod, and the first end of the first elastic piece is fixed on the second support.

7. The three degree-of-freedom fastening device of claim 4, wherein the second rail assembly includes:

the end part of the second guide rod is connected with the second sliding block, and the first sliding block is sleeved on the second guide rod;

the second elastic piece is sleeved on the second guide rod, the first end of the second elastic piece is fixed, the second end of the second elastic piece is connected with the first sliding block, and the first sliding block can compress or stretch the second elastic piece when moving on the second guide rod.

8. The three-degree-of-freedom fastening device according to any one of claims 1 to 3, wherein the first rail assembly includes:

the first guide rail is provided with a first sliding groove, and one end of the second guide rail assembly extends into the first sliding groove and can move along the first sliding groove;

the first elastic piece is arranged in the first sliding groove, the first end of the first elastic piece is fixed, the second end of the first elastic piece is connected with the second guide rail assembly, and the second guide rail assembly can compress or stretch the first elastic piece when moving in the first sliding groove.

9. The three degree-of-freedom fastening device of claim 8, wherein the second rail assembly includes:

the first sliding block is arranged in the second sliding groove and can move along the second sliding groove;

the second elastic piece is arranged in the second sliding groove, the first end of the second elastic piece is fixed, the second end of the second elastic piece is connected with the first sliding block, and the first sliding block can compress or stretch the second elastic piece when moving in the second sliding groove.

10. The three-degree-of-freedom fastening device according to any one of claims 1 to 3, wherein the lifting and rotating device further includes a slide table assembly, the slide table assembly being connected to the first slider, the slide table assembly including:

a sliding table base;

the sliding table frame is connected with the sliding table base, a third guide rail is arranged on the sliding table frame, and the third guide rail is arranged along the height direction of the sliding table frame;

a third slider coupled to the third rail and movable along the third rail.

11. The three degree-of-freedom fastening device according to claim 10,

the middle part of the sliding table base is provided with a first through hole, and the screwing assembly penetrates through the first through hole;

the cross section of the sliding table frame is U-shaped, and at least one second through hole is formed in the side wall of the sliding table frame.

12. The three degree-of-freedom fastening device according to claim 10,

the fixed end of the lifting assembly is connected with the third sliding block, and the telescopic end of the lifting assembly is connected with the sliding table base.

13. The three degree-of-freedom fastening device according to claim 12,

the lifting assembly comprises at least one of an electric cylinder, a gear rack assembly, a lead screw nut assembly or a cable fixed pulley assembly.

14. The three degree-of-freedom fastening device according to any one of claims 1 to 3, wherein the tightening assembly includes:

one end of the tightening shaft is connected with the lifting component;

the sleeve is connected with one end, far away from the lifting assembly, of the tightening shaft, and the sleeve is matched with the to-be-fastened piece so as to rotationally fix the to-be-fastened piece;

a guide portion connected to an end of the sleeve remote from the tightening shaft, the guide portion being configured to be adapted to introduce the member to be fastened into the sleeve.

15. The three-degree-of-freedom fastening device according to claim 14,

the guide part is a flaring structure, and the opening size of the flaring structure is increased from one end connected with the sleeve to one end far away from the sleeve.

16. A three-degree-of-freedom fastening apparatus according to any one of claims 1 to 3, further comprising:

and the linear motion part is arranged between the first sliding block and the second guide rail assembly and/or between the first guide rail assembly and the second sliding block of the three-degree-of-freedom fastening device.

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