CN206445397U - A kind of pile tube welding robot - Google Patents

Abstract

A kind of pile tube welding robot, including dolly jig, rail mechanism, supporting mechanism, calibrating device, described supporting mechanism is made up of three groups of supporting members, and in etc. equal 120 ° of distributions be fixed on pile tube body periphery, the rail mechanism is arranged on supporting mechanism, dolly jig passes through the first rocking arm bolt and rocking arm, along the track and locking nut in the groove fastening rail mechanism of the first roller, by the three-point fix mode of three the first rollers in dolly jig, by whole dolly jig fix in position；When needing concentricity to demarcate, the calibrating device blocks the track and locking nut in rail mechanism by the groove in the middle of the second roller by demarcating rocking arm and the second rocking arm bolt, and demarcation wheel is in contact with pile tube body periphery and demarcated by calibration device；The utility model has the advantages that reliability, rapidity, convenience.

Description

A kind of pile tube welding robot

Technical field

The utility model belongs to Industrial Robot Technology field, more particularly to a kind of pile tube welding robot.

Background technology

As Chinese Industrialization process is extended to industry-by-industry, industrial robot supplement rapidly or replace tradition each The artificial operation of industry.In terms of conventional piles based device, due to technology, technological ability limitation and other reasonses, journey is automated Degree is still within reduced levels.According to investigation, in condition comparatively severe building site, at present all using manual welding mode Pile tube weld job is carried out, there is no a equipment to replace human weld's pile tube.

The content of the invention

The purpose of this utility model is to overcome the shortcomings of that prior art is present, and provide it is a kind of there is reliability, it is quick Property, the pile tube welding robot of convenience, fast-developing demand is welded to pile tube to meet domestic construction field.

The purpose of this utility model is completed by following technical solution, including dolly jig, rail mechanism, Supporting mechanism, calibrating device, described supporting mechanism are made up of three groups of supporting members, and in etc. equal 120 ° of distributions be fixed on pile tube On body periphery, the supporting member by support shaft, adjust support, mark closely screw, pressing plate, supporting plate, anti-skid rubber cushion, vertical A Chi mark and vertical B chis mark composition；Described rail mechanism is by track, track A supporting plates, hinge axis, latch and track B supporting plates Composition, the track is made up of three arc-shaped tracks, and the two ends of every arc-shaped track are respectively equipped with track A supporting plates, track B Consolidated between supporting plate, adjacent two panels arc-shaped track by track A supporting plates, track B supporting plates by the connection of hinge axis, latch It is scheduled on together；The rail mechanism is arranged on supporting mechanism, and is fixed together by the screw of marking closely of latch and supporting member, And three groups of supporting members are located on the node between the adjacent two panels arc-shaped track respectively；Described dolly jig is by welding Rifle, Z-axis mechanism, Y-axis mechanism, rotary shaft, rocking arm, the first servomotor, the first reductor, dolly, the first rocking arm bolt, first Roller is constituted, and the dolly jig is fastened in rail mechanism by the first rocking arm bolt and rocking arm along the groove of the first roller Track and locking nut, by the three-point fix mode of three the first rollers in dolly jig, whole dolly is welded Connect platform fix in position；Described calibrating device is by demarcating wheel, center demarcate bar, demarcation wheel end cap, demarcation wheel shaft, demarcate bar bullet Spring, roller shaft, bottom plate, the second roller, rocker arm shaft, demarcation rocking arm, the second rocking arm bolt, demarcation trestle, demarcation stem nut, spring Finger is constituted, and when needing concentricity to demarcate, the calibrating device is by demarcating rocking arm and the second rocking arm bolt, by the second roller Between groove block track in rail mechanism and locking nut, demarcation wheel is in contact and by calibration device with pile tube body periphery Demarcation.

Preferably, the demarcation wheel in described calibrating device is arranged on one end of center demarcate bar by demarcating wheel shaft On, and demarcation wheel end cap is covered thereunder, the other end of center demarcate bar is fixed on mark by demarcate bar spring, spring finger Determine on trestle, the demarcation trestle is fixed on bottom plate, and the end in the center demarcate bar is provided with demarcation stem nut, the second roller It is fixed on by roller shaft on bottom plate, the bottom plate is connected by rocker arm shaft with demarcation rocking arm.

Preferably, pressing plate, supporting plate, the anti-skid rubber cushion in described supporting member are fixedly linked, support shaft passes through Mark closely screw to be fixed on adjustment support, adjustment support is fixed on the supporting plate, and vertical A chis mark and vertical B chis mark are in support On plate, three groups of supporting members are fixed on pile tube body periphery by chain and buckle between its center platen, supporting plate, and pile tube Anti-skid rubber cushion is provided between body periphery and supporting plate.

Preferably, the Z-axis mechanism in described dolly jig is assemblied in the terminal of Y-axis mechanism, Y-axis mechanism is installed On dolly, welding gun is fixed on Z-axis mechanism, and rocking arm is connected by rotary shaft with dolly, and the first servomotor and first slows down Machine is connected, and first reductor is connected by timing belt with the first roller.

Preferably, described Z-axis mechanism is by the second servomotor, the second reductor, Bearing housing, stretcher, first Synchronous A belt wheels, the first timing belt, the first adjustment wheel, the first synchronization B belt wheels, motor fixing plate, Z axis group baffle plate, first are led Rail, the first screw mandrel, sleeve, the first sliding block, Z axis nut seat, welding gun retaining sleeve, welding gun fixed seat, the first block composition, this second Servomotor is connected with the second reductor, and second reductor is located at the lower section of motor fixing plate, and is set with motor fixing plate There is Bearing housing, the output shaft of the second reductor A belt wheels synchronous with first are connected, the first synchronization A belt wheels are same by first Step band B belt wheels synchronous with first are connected, and the first synchronization B belt wheels are connected with the first screw mandrel, and the first screw mandrel is provided with sleeve, set Cylinder is provided with welding gun fixed seat, and the welding gun fixed seat is fixed with welding gun with welding gun clamping inner room, and the lower section of motor fixing plate is fixed There is Z axis group baffle plate, the first guide rail is provided with the Z axis group baffle plate, the first sliding block is located on first guide rail and above and below doing Motion, is connected with Z axis nut seat, the Z axis nut seat is connected with sleeve with the first sliding block stationary phase.

Preferably, described Y-axis mechanism is by the 3rd servomotor, rebound, the 3rd reductor, motor mounting plate, machine Structure installing plate, the second synchronization A belt wheels, the second timing belt, the second synchronization B belt wheels, second adjustment wheel, locking nut, bearing (ball) cover, Y-axis group baffle plate, Y-axis nut seat, the second screw mandrel, the second block, the second sliding block, the second guide rail composition, the 3rd servomotor It is connected with the 3rd reductor, and is fixed on rebound, the output shaft A belt wheels synchronous with second of the 3rd reductor is connected, The second synchronization A belt wheels are connected by the second timing belt B belt wheels synchronous with second, the second synchronization B belt wheels and the second screw mandrel phase Connection, second screw mandrel is fixed in Y-axis group baffle plate and bearing (ball) cover, the Y-axis group baffle plate respectively with Y-axis nut seat and the Two sliding blocks are fixed, and the second sliding block is located on second guide rail and moved forward and backward, described Y-axis nut seat and the Z axis of Z-axis mechanism Nut seat is mutually fixedly connected.

The beneficial effects of the utility model are：

First, the utility model is adjusted in the way of track circumference rotating welding by servo-drive, and weld seam is carried out more Complicated welding operation；Supporting mechanism ensure that overall rigidity meets the requirement of pile tube welding procedure；It is multivariant adjustable The posture for allowing welding gun to weld has multiple choices；The reliability of integrated model, it is ensured that the stabilization of final welding quality with it is reliable；

2nd, the utility model has liberated productivity, it is no longer necessary to have the skilled worker that professional skill is good, common laborer's warp Necessary special work post originally can be replaced by crossing simple training, in addition, using welding robot weld job, it is to avoid welding Possible damage is caused in journey to workman, and fatigue phenomenon is not present in robot, can continuously be worked, significantly reduce and apply The personnel cost and pressure of work side；

To sum up, the utility model accelerates the paces of China's building automation, alleviates to technical work increasingly in short supply The demand of kind, improves the welding quality of pile tube.

Brief description of the drawings

Fig. 1 is general structure schematic diagram of the present utility model.

Fig. 2 is dolly jig structural representation of the present utility model.

Fig. 3 is calibrating device structural representation of the present utility model.

Fig. 4 is Z-axis mechanism structural representation of the present utility model.

Fig. 5 is Y-axis mechanism structure schematic diagram of the present utility model.

Fig. 6 is calibrating device of the present utility model, supporting mechanism and rail mechanism structural relation figure.

Fig. 7 is supporting mechanism structural representation of the present utility model.

Fig. 8 is rail mechanism structural representation of the present utility model.

Label in accompanying drawing is respectively：1st, pile tube body；2nd, rail mechanism；3rd, dolly jig；4th, sheet metal box body； 5th, hurricane globe；6th, supporting mechanism；7th, calibrating device；8th, chain；9th, buckle；2-1, track；2-2, track A supporting plates； 2-3, hinge axis；2-4, latch；2-5, track B supporting plates；2-11, arc-shaped track；3-0, welding gun；3-1, Z axis machine Structure；3-2, Y-axis mechanism；3-3, rotary shaft；3-4, rocking arm；3-5, the first servomotor；3-6, the first reductor； 3-7、 Dolly；3-8, the first rocking arm bolt；3-9, the first roller；6-1, support shaft；6-2, adjustment support；6-3, mark closely screw； 6-4, pressing plate；6-5, supporting plate；6-6, anti-skid rubber cushion；6-7, vertical A chis mark；6-8, vertical B chis mark；7-0, demarcation Wheel；7-1, center demarcate bar；7-2, demarcation wheel end cap；7-3, demarcation wheel shaft；7-4, demarcate bar spring；7-5, roller shaft； 7-6, bottom plate；7-7, the second roller；7-8, rocker arm shaft；7-9, demarcation rocking arm；7-10, the second rocking arm bolt；7-11, mark Determine trestle；7-12, demarcation stem nut；7-13, spring finger；3-1-1, the second servomotor；3-1-2, the second reductor； 3-1-3, Bearing housing；3-1-4, stretcher；3-1-5, the first synchronization A belt wheels；3-1-6, the first timing belt；3-1-7, One adjustment wheel；3-1-8, the first synchronization B belt wheels；3-1-9, motor fixing plate；3-1-10, Z axis group baffle plate； 3-1-11、 First guide rail；3-1-12, the first screw mandrel；3-1-13, sleeve；3-1-14, the first sliding block；3-1-15, Z axis nut seat； 3- 1-16, welding gun retaining sleeve；3-1-17, welding gun fixed seat；3-1-18, the first block；3-2-1, the 3rd servomotor； 3-2- 2nd, rebound；3-2-3, the 3rd reductor；3-2-4, motor mounting plate；3-2-5, mechanism's installing plate；It is 3-2-6, second same Walk A belt wheels；3-2-7, the second timing belt；3-2-8, the second synchronization B belt wheels；3-2-9, the second adjustment wheel；3-2-10, locking Nut；3-2-11, bearing (ball) cover；3-2-12, Y-axis group baffle plate；3-2-13, Y-axis nut seat；3-2-14, the second screw mandrel； 3-2-15, the second block；3-2-16, the second sliding block；3-2-17, the second guide rail.

Embodiment

Detailed introduction is done below in conjunction with 1 to 8 pair of the utility model of accompanying drawing：The utility model includes dolly jig 3rd, rail mechanism 2, supporting mechanism 6, calibrating device 7, described 6 a total of three groups of supporting members of supporting mechanism are constituted, and are substantially in 120 ° of distributions, and be fixed on by chain 8 and buckle 9 on the periphery of pile tube body 1.Chain 8 and buckle 9 pass through pressing plate 6-4 and support Plate 6-5 coordinates with supporting mechanism 6.Rail mechanism 2 is arranged on supporting mechanism 6, by marking closely the modes such as screw 6-3, latch 2-4 Fixed restraint of liberty degree, is tightened finally having demarcated concentricity with being fixed again after height.By vertical A chis mark 6-7 and Vertical B chi marks 6-8 demarcation track 2-1 and welding post height, make the distance change amount of orbital distance pad meet technique It is required that.Using calibration device, the second rocking arm bolt 7-10, release Fig. 3 demarcation rocking arm 7-9 are opened, with recessed in the middle of the second roller 7-7 Groove blocks track 2-1, and rocking arm 7-9 is then demarcated on card, in the groove for the second rocking arm bolt 7-10 being sticked into demarcation rocking arm 7-9, Locking nut, is then demarcated using calibration device.By constantly adjusting demarcation wheel 3-0 and the iron plate of pile tube body 1 distance, finally Obtain meeting the concentricity of technological requirement.After the completion of demarcation, nut is turned on, the second rocking arm bolt 7-10, demarcation rocking arm 10 is opened, Remove calibration device placement.Prepare dolly jig 3 installing upper rail 2-1.Dolly jig 3 and track 2-1 parts Use high intensity aluminium, it is ensured that while structural strength, quality is reduced as far as possible, allows user to use lighter, The movement inertia of welding bench is reduced to a certain degree.

The method demarcated using calibration device, can accurately control actual welding point position and the distance of track, in building site Under complicated operating mode, error is controlled effectively, directly ensure that the quality of last welded seam.

Dolly jig 3 opens the first rocking arm bolt 3-8 and rocking arm 3-4 as the mounting means of calibration device, along the One roller 3-9 groove fastening guide rail 2-1, locking nut, will by three the first roller 3-9 of dolly three-point fix mode The whole fix in position of dolly jig 3.

First servomotor 3-5, is conveyed to synchronous pulley by power by the first reductor 3-6, passes through toothed belt transmission Mechanism outputs power to the first roller 3-9 one of driving wheel, and driving wheel moves in a circle along track, carries out circumference Weld job.The Y-axis mechanism 3-2 of dolly jig 3, passes through the adjustment to rebound 3-2-2 screws, whole Y-axis mechanism 3-2 It can outward be translated along backer, 400mm diameters pile tube, 500mm diameters pile tube and 600mm diameter pile tubes can be met simultaneously Welding requirements.By the transmission of power, Y-axis mechanism 3-2 can be met in actual welding, when the second lap welding connects, welding procedure butt welding The adjustment of displacement requirements of rifle 3-0 in the longitudinal direction.Welding gun fixed seat 3-1- in the Z-axis mechanism 3-1 of dolly jig 3 17, by knockout screw, the rotation up and down at 60 ° of angles can be circumferentially carried out, when meeting welding, Butt welding gun 3-0 angles in technique Adjustment demand.By the transmission of power, Z-axis mechanism 3-1 can meet the swinging arc adjusting process need of welding gun 3-0 in vertical direction Ask.

Weld in implementation process, it is contemplated that the possibility of the complex environment factor such as wind and rain, in dolly jig 3 and support Hurricane globe 5 and sheet metal box body 4 are mounted with mechanism 6, mechanical wounding is prevented and protects the core institution component of the present invention.

Operation principle of the present utility model is：After the completion of the preparation of early stage, the first servo of dolly jig 3 When motor 3-5 works, driving wheel is output power to by synchronous belt drive mechanism, driving wheel carries out welding work along track Industry.According to technological requirement, Fig. 5 the 3rd servomotor 3-2-1 is worked, and the second synchronization A bands are driven by the 3rd reductor 3-2-3 3-2-6 is taken turns, the second timing belt 3-2-7 transfers force to the second screw mandrel 3-2-14, Y-axis nut seat 3-2-13 is along the second guide rail 3- 2-17 is moved forward and backward.Fig. 4 the second servomotor 3-1-1 work, the first synchronization A bands are driven by the second reductor 3-1-2 3-1-5 is taken turns, the first timing belt 3-1-6 transfers force to the first screw mandrel 3-1-12, Z axis nut seat 3-1-15 is along the first guide rail 3- 1-11 moves up and down.

The utility model is not limited to above-mentioned embodiment, and any change is made no matter being constituted in its shape or material, all It is to use structure design provided by the utility model, is all a kind of deformation of the present utility model, is considered as new in this practicality Within type protection domain.

Claims (6)

1. a kind of pile tube welding robot, including dolly jig（3）, rail mechanism（2）, supporting mechanism（6）, calibrating device （7）, it is characterised in that：Described supporting mechanism（6）Be made up of three groups of supporting members, and in etc. equal 120 ° of distributions be fixed on pile tube Body（1）On periphery, the supporting member is by support shaft（6-1）, adjustment support（6-2）, mark closely screw（6-3）, pressing plate（6-4）、 Supporting plate（6-5）, anti-skid rubber cushion（6-6）, vertical A chis mark（6-7）With vertical B chis mark（6-8）Composition；Described rail mechanism （2）By track（2-1）, track A supporting plates（2-2）, hinge axis（2-3）, latch（2-4）With track B supporting plates（2-5）Composition, The track（2-1）By three arc-shaped tracks（2-11）Composition, every arc-shaped track（2-11）Two ends be respectively equipped with track A Supporting plate（2-2）, track B supporting plates（2-5）, adjacent two panels arc-shaped track（2-11）Between by track A supporting plates（2-2）、 Track B supporting plates（2-5）Pass through hinge axis（2-3）, latch（2-4）Be connected and fixed；The rail mechanism（2）It is arranged in Supporting mechanism（6）On, and pass through latch（2-4）Screw is marked closely with supporting member（6-3）It is fixed together, and three groups of support structures Part is located at the adjacent two panels arc-shaped track respectively（2-11）Between node on；Described dolly jig（3）By welding gun （3-0）, Z-axis mechanism（3-1）, Y-axis mechanism（3-2）, rotary shaft（3-3）, rocking arm（3-4）, the first servomotor（3-5）, first Reductor（3-6）, dolly（3-7）, the first rocking arm bolt（3-8）, the first roller（3-9）Composition, the dolly jig（3）It is logical Cross the first rocking arm bolt（3-8）And rocking arm（3-4）, along the first roller（3-9）Groove fastening rail mechanism（2）Interior track （2-1）And locking nut, pass through dolly jig（3）Three interior the first rollers（3-9）Three-point fix mode, will be whole Dolly jig（3）Fix in position；Described calibrating device（7）By demarcation wheel（7-0）, center demarcate bar（7-1）, demarcation wheel End cap（7-2）, demarcation wheel shaft（7-3）, demarcate bar spring（7-4）, roller shaft（7-5）, bottom plate（7-6）, the second roller（7-7）、 Rocker arm shaft（78）, demarcation rocking arm（7-9）, the second rocking arm bolt（7-10）, demarcation trestle（7-11）, demarcation stem nut（7-12）、 Spring finger（7-13）Composition, when needing concentricity to demarcate, the calibrating device（7）By demarcating rocking arm（7-9）With the second rocking arm Bolt（7-10）, pass through the second roller（7-7）Middle groove blocks rail mechanism（2）Interior track（2-1）And locking nut, Demarcation wheel（7-0）With pile tube body（1）Periphery is in contact and demarcated by calibration device.

2. pile tube welding robot according to claim 1, it is characterised in that：Described calibrating device（7）Interior demarcation Wheel（7-0）By demarcating wheel shaft（7-3）Installed in center demarcate bar（7-1）One end on, and thereunder cover demarcation wheel end Lid（7-2）, center demarcate bar（7-1）The other end pass through demarcate bar spring（7-4）, spring finger（7-13）It is fixed on demarcation frame Post（7-11）On, the demarcation trestle（7-11）It is fixed on bottom plate（7-6）On, and the center demarcate bar（7-1）On end be provided with Demarcate stem nut（7-12）, the second roller（7-7）Pass through roller shaft（7-5）It is fixed on bottom plate（7-6）On, the bottom plate（7-6）It is logical Cross rocker arm shaft（7-8）With demarcation rocking arm（7-9）It is connected.

3. pile tube welding robot according to claim 1, it is characterised in that：Pressing plate in described supporting member（6- 4）, supporting plate（6-5）, anti-skid rubber cushion（6-6）It is fixedly linked, support shaft（6-1）By marking closely screw（6-3）It is fixed on adjustment Support（6-2）On, adjust support（6-2）It is fixed on supporting plate（6-5）On, vertical A chis mark（6-7）With vertical B chis mark（6-8）Position In supporting plate（6-5）On, its center platen（6-4）, supporting plate（6-5）Between pass through chain（8）And buckle（9）By three groups of supporting members It is fixed on pile tube body（1）On periphery, and pile tube body（1）Periphery and supporting plate（6-5）Between be provided with anti-skid rubber cushion（6-6）.

4. pile tube welding robot according to claim 1, it is characterised in that：Described dolly jig（3）Interior Z Axis mechanism（3-1）It is assemblied in Y-axis mechanism（3-2）Terminal, Y-axis mechanism（3-2）Installed in dolly（3-7）On, welding gun（3-0）Gu It is scheduled on Z-axis mechanism（3-1）On, rocking arm（3-4）Pass through rotary shaft（3-3）With dolly（3-7）Connection, the first servomotor（3-5） With the first reductor（3-6）It is connected, and first reductor（3-6）Pass through timing belt and the first roller（3-9）It is connected.

5. pile tube welding robot according to claim 4, it is characterised in that：Described Z-axis mechanism（3-1）Watched by second Take motor（3-1-1）, the second reductor（3-1-2）, Bearing housing（3-1-3）, stretcher（3-1-4）, the first synchronization A belt wheels （3-1-5）, the first timing belt（3-1-6）, first adjustment wheel（3-1-7）, the first synchronization B belt wheels（3-1-8）, motor fixing plate （3-1-9）, Z axis group baffle plate（3-1-10）, the first guide rail（3-1-11）, the first screw mandrel（3-1-12）, sleeve（3-1-13）, One sliding block（3-1-14）, Z axis nut seat（3-1-15）, welding gun retaining sleeve（3-1-16）, welding gun fixed seat（3-1-17）, first gear Block（3-1-18）Composition, second servomotor（3-1-1）With the second reductor（3-1-2）It is connected, second reductor（3- 1-2）Positioned at motor fixing plate（3-1-9）Lower section, and and motor fixing plate（3-1-9）Provided with Bearing housing（3-1-3）, second Reductor（3-1-2）Output shaft A belt wheels synchronous with first（3-1-5）It is connected, the first synchronization A belt wheels（3-1-5）Pass through First timing belt（3-1-6）B belt wheels synchronous with first（3-1-8）It is connected, the first synchronization B belt wheels（3-1-8）With the first screw mandrel （3-1-12）It is connected, the first screw mandrel（3-1-12）It is provided with sleeve（3-1-13）, sleeve（3-1-13）Fixed provided with welding gun Seat（3-1-17）, the welding gun fixed seat（3-1-17）With welding gun retaining sleeve（3-1-16）Between be fixed with welding gun（3-0）, motor fixes Plate（3-1-9）Lower section be fixed with Z axis group baffle plate（3-1-10）, in the Z axis group baffle plate（3-1-10）Led provided with first Rail（3-1-11）, the first sliding block（3-1-14）Positioned at first guide rail（3-1-11）Go up and move up and down, with first sliding block （3-1-14）Stationary phase is connected with Z axis nut seat（3-1-15）, the Z axis nut seat（3-1-15）With sleeve（3-1-13）It is connected.

6. pile tube welding robot according to claim 4, it is characterised in that：Described Y-axis mechanism（3-2）Watched by the 3rd Take motor（3-2-1）, rebound（3-2-2）, the 3rd reductor（3-2-3）, motor mounting plate（3-2-4）, mechanism's installing plate（3- 2-5）, the second synchronization A belt wheels（3-2-6）, the second timing belt（3-2-7）, the second synchronization B belt wheels（3-2-8）, second adjustment wheel （3-2-9）, locking nut（3-2-10）, bearing (ball) cover（3-2-11）, Y-axis group baffle plate（3-2-12）, Y-axis nut seat（3-2- 13）, the second screw mandrel（3-2-14）, the second block（3-2-15）, the second sliding block（3-2-16）, the second guide rail（3-2-17）Composition, 3rd servomotor（3-2-1）With the 3rd reductor（3-2-3）It is connected, and is fixed on rebound（3-2-2）On, the 3rd subtracts Fast machine（3-2-3）Output shaft A belt wheels synchronous with second（3-2-6）It is connected, the second synchronization A belt wheels（3-2-6）Pass through Two timing belts（3-2-7）B belt wheels synchronous with second（3-2-8）It is connected, the second synchronization B belt wheels（3-2-8）With the second screw mandrel（3- 2-14）It is connected, second screw mandrel（3-2-14）It is fixed on Y-axis group baffle plate（3-2-12）With bearing (ball) cover（3-2-11）It is interior, The Y-axis group baffle plate（3-2-12）Respectively with Y-axis nut seat（3-2-13）With the second sliding block（3-2-16）It is fixed, the second sliding block （3-2-16）Positioned at second guide rail（3-2-17）Go up and move forward and backward, described Y-axis nut seat（3-2-13）With Z-axis mechanism （3-1）Z axis nut seat（3-1-15）Mutually it is fixedly connected.