CN105364026A - Intermittent rotary multi-station shell-making operating desk manipulator - Google Patents
Intermittent rotary multi-station shell-making operating desk manipulator Download PDFInfo
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- CN105364026A CN105364026A CN201510826255.8A CN201510826255A CN105364026A CN 105364026 A CN105364026 A CN 105364026A CN 201510826255 A CN201510826255 A CN 201510826255A CN 105364026 A CN105364026 A CN 105364026A
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Abstract
The invention discloses an intermittent rotary multi-station shell-making operating desk manipulator. The intermittent rotary multi-station shell-making operating desk manipulator is arranged on the periphery of an intermittent rotary multi-station shell-making operating desk of a precise casting shell-making braced chain conveying production line. The intermittent rotary multi-station shell-making operating desk manipulator comprises a supporting arm, an operating system and a movable assembly. The operating system is of a symmetrical structure with the horizontal suspension direction axis of the supporting arm as the symmetrical axis and comprises an operating system base, overturn mechanisms, overturn driving mechanisms, operating system movement driving assemblies and sling rotation driving mechanisms, and the overturn mechanisms, the overturn driving mechanisms, the operating system movement driving assemblies and the sling rotation driving mechanisms are symmetrically distributed on the two sides of the symmetrical axis. The intermittent rotary multi-station shell-making operating desk manipulator is further improved in that the operating system further comprises limiting structures. The intermittent rotary multi-station shell-making operating desk manipulator capable of achieving overturning and rotation of a formwork sling at the same time, short in auxiliary time, high in production efficiency, simple in structure and low in manufacturing cost.
Description
Technical field
The present invention relates to hot investment casting field, particularly relate to the manipulator on a kind of Lost Wax Casting shell stretched wire conveying production line.
Background technology
Existing hot investment casting is generally complete to be stained with the shell operation processed such as slurry, slurry, pouring sand on stretched wire conveying production line, for reducing the labour intensity of workman, some stretched wire conveying production lines are provided with multiple station, and station is provided with manipulator and carries out being stained with slurry respectively, falls to starch, drenches sand operation.This stretched wire conveying production line, without the need to manual operation, significantly reduces labor strength, but the manipulator of each station needs first to capture formwork suspender before carrying out process operations, after completing process operations, then throw off formwork suspender, therefore, non-cutting time is long, and production efficiency is low; On the other hand, existing machinery hand cannot realize upset, the revolution of formwork suspender on a manipulator simultaneously.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose a kind of non-cutting time short, production efficiency is high, can realize the upset of formwork suspender, pivotal intermittent rotary multistation shell operating desk manipulator on a manipulator simultaneously.
The present invention is achieved through the following technical solutions technical goal.
Intermittent rotary multistation shell operating desk manipulator, its improvements are: the intermittent rotary multistation shell operating desk surrounding being arranged on Lost Wax Casting shell stretched wire conveying production line, comprises supporting arm, operating system, moving assembly;
Described supporting arm is level overhanging shape, one end is fixedly connected on revolving body sidewall; Described supporting arm is provided with along overhanging direction, distal opening chute, and be provided with the chute base plate of horizontal bottom chute, open at one end is provided with baffle plate; The straight trough along supporting arm overhanging direction is provided with in the middle part of described chute base plate;
Described moving assembly comprises upper cover plate, lower support plate, portable cord rail; Described upper cover plate is arranged on above supporting arm chute base plate, be fixedly connected with the lower support plate being fitted in chute base plate lower surface, between upper cover plate, supporting arm chute base plate, be provided with the portable cord rail along supporting arm level overhanging direction, moving assembly can be made to move along supporting arm level overhanging direction;
The symmetrical structure that described operating system is is the axis of symmetry with supporting arm level overhanging azimuth axis, comprise operating system base and be symmetrically distributed in the switching mechanism of axis of symmetry both sides, turnover driving mechanism, operating system moves driven unit, suspender rotary motion mechanism;
The symmetrical structure that described operating system base is is the axis of symmetry with supporting arm level overhanging azimuth axis, main body is the base plate of horizontal, the wing plate that base plate comprises coupling part, middle part, the front, side in side direction supporting arm level overhanging direction, coupling part, middle part two overhangs;
Described operating system moves driven unit and comprises ball screw, servomotor III, electric machine support, nut; Described electric machine support is relative with baffle plate, is arranged on the other end of moving assembly, is fixedly connected on chute base plate lower surface; Described ball screw is arranged along supporting arm level overhanging direction, and its two ends are bearing on end plate, electric machine support respectively; Described nut sleeve is contained on ball screw, and its end winding support is connected to the lower surface of coupling part in the middle part of operating system base plate; Described servomotor III is fixedly connected on electric machine support, and its output is connected with ball screw one end;
Both sides, described wing plate front end are provided with the riser of opposing parallel setting; Described riser portion overhangs in wing plate front end; The riser overhang of opposing parallel setting is provided with switching mechanism between dividing;
Described switching mechanism comprises side plate I, side plate II, connects transverse slat, bearing pin; Described connection transverse slat is connected between side plate I, side plate II, and the lateral surface of side plate I, side plate II is fixedly connected with bearing pin respectively; Described switching mechanism is hinged by bearing pin and riser, can rotate around bearing pin; Described connection transverse slat departs from bearing pin central axis; Described side plate I periphery is provided with the roller gear gear teeth of axis centered by bearing pin central axis;
Described suspender rotary motion mechanism comprises servomotor II, planetary gear mechanism, gear drive I, chain wheel driving mechanism; Described planetary gear mechanism is arranged on and connects transverse slat upper surface; Described servomotor II is connected to planetary gear mechanism upper surface, drives planetary gear mechanism; Described gear drive I is connected to and connects transverse slat lower surface; The output shaft of described planetary gear mechanism runs through connection transverse slat, stretches into driven wheel transmission mechanism I in gear drive I; Described chain wheel driving mechanism is connected to gear drive I lower surface; Described gear drive I output shaft drive sprocket transmission mechanism;
Described turnover driving mechanism comprises servomotor IV, gear drive II, Worm and worm-wheel gearing, upset driven wheel; Described gear drive II is fixedly connected on base plate lower surface; Described servomotor IV is fixedly connected on base plate, and its driving shaft runs through base plate, stretches in gear drive II, driven wheel transmission mechanism II; Described Worm and worm-wheel gearing comprises worm shaft, worm-wheel shaft, worm gear, Worm Wheel System casing; Described Worm Wheel System casing is fixedly connected on base plate upper surface, and worm shaft one end is bearing on Worm Wheel System box top wall, and the other end runs through base plate, stretches in gear drive II, is gear drive II output shaft; Described worm-wheel shaft one end is bearing on operating system base riser, and the other end is bearing on Worm Wheel System wall box; Described worm gear, upset driven wheel are fixedly connected on worm-wheel shaft, and the worm engaging on worm gear and worm shaft overturns driven wheel and engages with side plate I peripheral teeth.
In said structure, described operating system also comprises position limiting structure, and described position limiting structure comprises two gag lever posts, and described two gag lever posts are distributed in operating system central axis both sides, one end is fixedly connected on base plate upper surface, and the other end overhangs along supporting arm level overhanging direction.
In said structure, described planetary gear mechanism comprises driving gear, planetary gear mechanism casing, planetary gear, internal gear; Described servomotor II is fixedly connected on planetary gear mechanism casing upper surface; Described planetary gear mechanism casing is fixedly connected on and connects transverse slat upper surface; Servomotor II output shaft runs through connection transverse slat, stretches in planetary gear mechanism casing; Described internal gear is bearing in planetary gear mechanism casing, and driving gear is arranged on internal gear center, is fixedly connected on servomotor II output shaft, and planetary gear engages with driving gear, internal gear simultaneously; Described internal gear is provided with output shaft down, stretches into driven wheel transmission mechanism I in gear drive I.
In said structure, described chain wheel driving mechanism comprises chain, drive sprocket and two supporting wheels; Along supporting arm overhanging direction, supporting wheel is arranged on the position before relative drive sprocket; Described drive sprocket, supporting wheel are bearing in gear drive I lower surface, and chain is sleeved on drive sprocket, supporting wheel; The line of centres of two supporting wheels is parallel to bearing pin central axis; Chain between two supporting wheels protrudes the front end side connecting transverse slat.
The present invention compared with prior art, has following good effect:
1. on a manipulator, can realize upset, the revolution of formwork suspender, operating efficiency is high simultaneously, and structure is simple, low cost of manufacture.
2. multiple the present invention is set in the intermittent rotary multistation shell operating desk surrounding of Lost Wax Casting shell stretched wire conveying production line, the present invention is after the station started captures formwork suspender, just formwork suspender is thrown off at last station, manipulator enters next station and directly carries out being stained with slurry, falls to starch, drenches the shell operations processed such as sand, remarkable shortening non-cutting time, significantly improve production efficiency.
3. the present invention in use, by chain wheel driving mechanism band acting rotary formwork rotating hanger, even if swinging formwork suspender has larger deviation relative to the relative position between chain wheel driving mechanism, because chain wheel driving mechanism has certain elasticity, as long as the sprocket wheel of swinging formwork suspender normally engages with chain wheel driving mechanism chain, just can be with acting rotary formwork rotating hanger, therefore, need swinging formwork suspender with prior art by gear drive band acting rotary formwork rotating hanger and have compared with higher relative positional accuracy requires between gear drive, significantly reduce the relative positional accuracy requirement between swinging formwork suspender and transmission mechanism, reduce further manufacturing cost.
4. each manipulator comprises the switching mechanism, turnover driving mechanism, the operating system that are symmetrically distributed in axis of symmetry both sides and moves driven unit, suspender rotary motion mechanism, that is each manipulator is provided with two stations, can operate two swinging formwork suspenders simultaneously, therefore, enhance productivity further.
5., in the present invention, manipulator is moved by the portable cord rail of its moving assembly, and mobile accuracy is high.
6. in the present invention, manipulator moves under ball leading screw driving, and transmission accuracy is high, steadily mobile.
7. operating system moves driven unit by driven by servomotor, and transmission accuracy is high, stable drive.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the Q-Q sectional view in Fig. 1.
Fig. 3 is the E direction view in Fig. 2.
Fig. 4 is the P direction view in Fig. 2.
Fig. 5 is the D direction view in Fig. 4.
Fig. 6 is the T-T revolved sectional view in Fig. 1.
Fig. 7 is III enlarged schematic partial view in Fig. 6.
Fig. 8 is IV enlarged schematic partial view in Fig. 1.
Fig. 9 is the M-M sectional view in Fig. 8.
Figure 10 is V enlarged schematic partial view in Fig. 4.
Detailed description of the invention
Below with reference to the accompanying drawings and the invention will be further described in conjunction with the embodiments.
The multistation of intermittent rotary shown in accompanying drawing shell operating desk manipulator, is arranged on the intermittent rotary multistation shell operating desk surrounding of Lost Wax Casting shell stretched wire conveying production line, comprises supporting arm 3.2.1, operating system 3.2.2, moving assembly 3.2.3.
Supporting arm 3.2.1 is level overhanging shape, one end is fixedly connected on revolving body 3.1.2 sidewall; Supporting arm 3.2.1 is provided with along overhanging direction, distal opening chute, and be provided with the chute base plate 3.2.1.1 of horizontal bottom chute, open at one end is provided with baffle plate 3.2.1.2; The straight trough along supporting arm 3.2.1 overhanging direction is provided with in the middle part of chute base plate 3.2.1.1.
Moving assembly 3.2.3 comprises upper cover plate 3.2.3.1, lower support plate 3.2.3.2, portable cord rail 3.2.3.3; Upper cover plate 3.2.3.1 is arranged on above supporting arm 3.2.1 chute base plate 3.2.1.1, be fixedly connected with the lower support plate 3.2.3.2 being fitted in chute base plate 3.2.1.1 lower surface, between upper cover plate 3.2.3.1, supporting arm 3.2.1 chute base plate 3.2.1.1, be provided with the portable cord rail 3.2.3.3 along supporting arm 3.2.1 level overhanging direction, moving assembly 3.2.3 can be made to move along supporting arm 3.2.1 level overhanging direction.
The symmetrical structure that operating system 3.2.2 is is the axis of symmetry with supporting arm 3.2.1 level overhanging azimuth axis, comprise operating system base 3.2.2.1 and be symmetrically distributed in switching mechanism 3.2.2.3, the turnover driving mechanism 3.2.2.4 of axis of symmetry both sides, operating system moves driven unit 3.2.2.5, suspender rotary motion mechanism 3.2.2.6, position limiting structure 3.2.2.2.
The symmetrical structure that operating system base 3.2.2.1 is is the axis of symmetry with supporting arm 3.2.1 level overhanging azimuth axis, main body is the base plate of horizontal, the wing plate 3.2.2.1.2 that base plate comprises middle part coupling part 3.2.2.1.1, the front, side in 3.2.2.1.1 two side direction supporting arm 3.2.1 level overhanging direction, coupling part, middle part overhangs.
Operating system moves driven unit 3.2.2.5 and comprises ball screw 3.2.2.5.1, servomotor III 3.2.2.5.2, electric machine support 3.2.2.5.3, nut 3.2.2.5.4; Electric machine support 3.2.2.5.3 is relative with baffle plate 3.2.1.2, is arranged on the other end of moving assembly 3.2.3, is fixedly connected on chute base plate 3.2.1.1 lower surface; Ball screw 3.2.2.5.1 arranges along supporting arm 3.2.1 level overhanging direction, and its two ends are bearing on end plate 3.2.1.2, electric machine support 3.2.2.5.3 respectively; Nut 3.2.2.5.4 is sleeved on ball screw 3.2.2.5.1, and its end winding support is connected to the lower surface of coupling part 3.2.2.1.1 in the middle part of operating system base 3.2.2.1 base plate; Servomotor III 3.2.2.5.2 is fixedly connected on electric machine support 3.2.2.5.3, and its output is connected with ball screw 3.2.2.5.1 one end.
Both sides, wing plate 3.2.2.1.2 front end are provided with the riser 3.2.2.1.3 of opposing parallel setting; Riser 3.2.2.1.3 part overhangs in wing plate 3.2.2.1.2 front end; The riser 3.2.2.1.3 overhang of opposing parallel setting is provided with switching mechanism 3.2.2.3 between dividing.
Switching mechanism 3.2.2.3 comprises side plate I 3.2.2.3.1, side plate II 3.2.2.3.2, connects transverse slat 3.2.2.3.3, bearing pin 3.2.2.3.4; Connecting transverse slat 3.2.2.3.3 is connected between side plate I 3.2.2.3.1, side plate II 3.2.2.3.2, and the lateral surface of side plate I 3.2.2.3.1, side plate II 3.2.2.3.2 is fixedly connected with bearing pin 3.2.2.3.4 respectively; Switching mechanism 3.2.2.3 is hinged by bearing pin 3.2.2.3.4 and riser 3.2.2.1.3, can rotate around bearing pin 3.2.2.3.4; Connect transverse slat 3.2.2.3.3 and depart from bearing pin 3.2.2.3.4 central axis; Side plate I 3.2.2.3.1 periphery is provided with the roller gear gear teeth of axis centered by bearing pin 3.2.2.3.4 central axis.
Suspender rotary motion mechanism 3.2.2.6 comprises servomotor II 3.2.2.6.1, planetary gear mechanism 3.2.2.6.4, gear drive I 3.2.2.6.2, chain wheel driving mechanism 3.2.2.6.3; Planetary gear mechanism 3.2.2.6.4 is arranged on and connects transverse slat 3.2.2.3.3 upper surface; Servomotor II 3.2.2.6.1 is connected to planetary gear mechanism 3.2.2.6.4 upper surface, drives planetary gear mechanism 3.2.2.6.4; Gear drive I 3.2.2.6.2 is connected to and connects transverse slat 3.2.2.3.3 lower surface; The output shaft of planetary gear mechanism 3.2.2.6.4 runs through and connects transverse slat 3.2.2.3.3, stretches into driven wheel transmission mechanism I 3.2.2.6.2 in gear drive I 3.2.2.6.2; Chain wheel driving mechanism 3.2.2.6.3 is connected to gear drive I 3.2.2.6.2 lower surface; Gear drive I 3.2.2.6.2 output shaft drive sprocket transmission mechanism 3.2.2.6.3.
Turnover driving mechanism 3.2.2.4 comprises servomotor IV 3.2.2.4.1, gear drive II 3.2.2.4.2, Worm and worm-wheel gearing 3.2.2.4.3, upset driven wheel 3.2.2.4.4; Gear drive II 3.2.2.4.2 is fixedly connected on base plate 3.2.2.1.1 lower surface; Servomotor IV 3.2.2.4.1 is fixedly connected on base plate 3.2.2.1.1, and its driving shaft runs through base plate 3.2.2.1.1, stretches in gear drive II 3.2.2.4.2, driven wheel transmission mechanism II 3.2.2.4.2; Worm and worm-wheel gearing 3.2.2.4.3 comprises worm shaft 3.2.2.4.3.1, worm-wheel shaft 3.2.2.4.3.2, worm gear 3.2.2.4.3.3, Worm Wheel System casing 3.2.2.4.3.4; Worm Wheel System casing 3.2.2.4.3.4 is fixedly connected on base plate 3.2.2.1.1 upper surface, worm shaft 3.2.2.4.3.1 one end is bearing on Worm Wheel System casing 3.2.2.4.3.4 roof, the other end runs through base plate 3.2.2.1.1, stretching in gear drive II 3.2.2.4.2, is gear drive II 3.2.2.4.2 output shaft; Worm-wheel shaft 3.2.2.4.3.2 one end is bearing on operating system base 3.2.2.1 riser 3.2.2.1.3, and the other end is bearing on Worm Wheel System casing 3.2.2.4.3.4 sidewall; Worm gear 3.2.2.4.3.3, upset driven wheel 3.2.2.4.4 are fixedly connected on worm-wheel shaft 3.2.2.4.3.2, worm engaging on worm gear 3.2.2.4.3.3 and worm shaft 3.2.2.4.3.1, upset driven wheel 3.2.2.4.4 engages with side plate I 3.2.2.3.1 peripheral teeth.
Position limiting structure 3.2.2.2 comprises two gag lever post 3.2.2.2.1, two gag lever post 3.2.2.2.1 are distributed in operating system 3.2.2 central axis both sides, one end is fixedly connected on base plate 3.2.2.1.1 upper surface, and the other end overhangs along supporting arm 3.2.1 level overhanging direction.
Planetary gear mechanism 3.2.2.6.4 comprises driving gear 3.2.2.6.4.4, planetary gear mechanism casing 3.2.2.6.4.1, planetary gear 3.2.2.6.4.3, internal gear 3.2.2.6.4.2; Servomotor II 3.2.2.6.1 is fixedly connected on planetary gear mechanism casing 3.2.2.6.4.1 upper surface; Planetary gear mechanism casing 3.2.2.6.4.1 is fixedly connected on and connects transverse slat 3.2.2.3.3 upper surface; Servomotor II 3.2.2.6.1 output shaft runs through and connects transverse slat 3.2.2.3.3, stretches in planetary gear mechanism casing 3.2.2.6.4.1; Internal gear 3.2.2.6.4.2 is bearing in planetary gear mechanism casing 3.2.2.6.4.1, driving gear 3.2.2.6.4.4 is arranged on internal gear 3.2.2.6.4.2 center, be fixedly connected on servomotor II 3.2.2.6.1 output shaft, planetary gear 3.2.2.6.4.3 engages with driving gear 3.2.2.6.4.4, internal gear 3.2.2.6.4.2 simultaneously; Internal gear 3.2.2.6.4.2 is provided with output shaft down, stretches into driven wheel transmission mechanism I 3.2.2.6.2 in gear drive I 3.2.2.6.2.
Chain wheel driving mechanism 3.2.2.6.3 comprises chain 3.2.2.6.3.3, a drive sprocket 3.2.2.6.3.1 and two supporting wheel 3.2.2.6.3.2; Along supporting arm 3.2.1 overhanging direction, supporting wheel 3.2.2.6.3.2 is arranged on the position before relative drive sprocket 3.2.2.6.3.1; Drive sprocket 3.2.2.6.3.1, supporting wheel 3.2.2.6.3.2 are bearing in gear drive I 3.2.2.6.2 lower surface, and chain 3.2.2.6.3.3 is sleeved on drive sprocket 3.2.2.6.3.1, supporting wheel 3.2.2.6.3.2; The line of centres of two supporting wheel 3.2.2.6.3.2 is parallel to bearing pin 3.2.2.3.4 central axis; Chain 3.2.2.6.3.3 between two supporting wheel 3.2.2.6.3.2 protrudes the front end side connecting transverse slat 3.2.2.3.3.
Claims (4)
1. an intermittent rotary multistation shell operating desk manipulator, it is characterized in that: the intermittent rotary multistation shell operating desk surrounding being arranged on Lost Wax Casting shell stretched wire conveying production line, comprises supporting arm (3.2.1), operating system (3.2.2), moving assembly (3.2.3);
Described supporting arm (3.2.1) in level overhanging shape, one end is fixedly connected on revolving body (3.1.2) sidewall; Described supporting arm (3.2.1) is provided with along overhanging direction, distal opening chute, and be provided with the chute base plate (3.2.1.1) of horizontal bottom chute, open at one end is provided with baffle plate (3.2.1.2); Described chute base plate (3.2.1.1) middle part is provided with the straight trough along supporting arm (3.2.1) overhanging direction;
Described moving assembly (3.2.3) comprises upper cover plate (3.2.3.1), lower support plate (3.2.3.2), portable cord rail (3.2.3.3); Described upper cover plate (3.2.3.1) is arranged on supporting arm (3.2.1) chute base plate (3.2.1.1) top, be fixedly connected with the lower support plate (3.2.3.2) being fitted in chute base plate (3.2.1.1) lower surface, between upper cover plate (3.2.3.1), supporting arm (3.2.1) chute base plate (3.2.1.1), be provided with the portable cord rail (3.2.3.3) along supporting arm (3.2.1) level overhanging direction, moving assembly (3.2.3) can be made to move along supporting arm (3.2.1) level overhanging direction;
Described operating system (3.2.2) for being the symmetrical structure of the axis of symmetry with supporting arm (3.2.1) level overhanging azimuth axis, comprise operating system base (3.2.2.1) and be symmetrically distributed in the switching mechanism (3.2.2.3) of axis of symmetry both sides, turnover driving mechanism (3.2.2.4), operating system moves driven unit (3.2.2.5), suspender rotary motion mechanism (3.2.2.6);
Described operating system base (3.2.2.1) is for being the symmetrical structure of the axis of symmetry with supporting arm (3.2.1) level overhanging azimuth axis, main body is the base plate of horizontal, base plate comprise middle part coupling part (3.2.2.1.1), coupling part, middle part (3.2.2.1.1) two side direction supporting arm (3.2.1) level overhanging direction front, side overhang wing plate (3.2.2.1.2);
Described operating system moves driven unit (3.2.2.5) and comprises ball screw (3.2.2.5.1), servomotor III (3.2.2.5.2), electric machine support (3.2.2.5.3), nut (3.2.2.5.4); Described electric machine support (3.2.2.5.3) is relative with baffle plate (3.2.1.2), is arranged on the other end of moving assembly (3.2.3), is fixedly connected on chute base plate (3.2.1.1) lower surface; Described ball screw (3.2.2.5.1) is arranged along supporting arm (3.2.1) level overhanging direction, and its two ends are bearing on end plate (3.2.1.2), electric machine support (3.2.2.5.3) respectively; Described nut (3.2.2.5.4) is sleeved on ball screw (3.2.2.5.1), and its end winding support is connected to the lower surface of coupling part (3.2.2.1.1) in the middle part of operating system base (3.2.2.1) base plate; Described servomotor III (3.2.2.5.2) is fixedly connected on electric machine support (3.2.2.5.3), and its output is connected with ball screw (3.2.2.5.1) one end;
Described wing plate (3.2.2.1.2) both sides, front end are provided with the riser (3.2.2.1.3) of opposing parallel setting; Described riser (3.2.2.1.3) part overhangs in wing plate (3.2.2.1.2) front end; Riser (3.2.2.1.3) overhang of opposing parallel setting is provided with switching mechanism (3.2.2.3) between dividing;
Described switching mechanism (3.2.2.3) comprises side plate I (3.2.2.3.1), side plate II (3.2.2.3.2), connects transverse slat (3.2.2.3.3), bearing pin (3.2.2.3.4); Described connection transverse slat (3.2.2.3.3) is connected between side plate I (3.2.2.3.1), side plate II (3.2.2.3.2), and the lateral surface of side plate I (3.2.2.3.1), side plate II (3.2.2.3.2) is fixedly connected with bearing pin (3.2.2.3.4) respectively; Described switching mechanism (3.2.2.3) is hinged by bearing pin (3.2.2.3.4) and riser (3.2.2.1.3), can rotate around bearing pin (3.2.2.3.4); Described connection transverse slat (3.2.2.3.3) departs from bearing pin (3.2.2.3.4) central axis; Described side plate I (3.2.2.3.1) periphery is provided with the roller gear gear teeth of axis centered by bearing pin (3.2.2.3.4) central axis;
Described suspender rotary motion mechanism (3.2.2.6) comprises servomotor II (3.2.2.6.1), planetary gear mechanism (3.2.2.6.4), gear drive I (3.2.2.6.2), chain wheel driving mechanism (3.2.2.6.3); Described planetary gear mechanism (3.2.2.6.4) is arranged on and connects transverse slat (3.2.2.3.3) upper surface; Described servomotor II (3.2.2.6.1) is connected to planetary gear mechanism (3.2.2.6.4) upper surface, drives planetary gear mechanism (3.2.2.6.4); Described gear drive I (3.2.2.6.2) is connected to and connects transverse slat (3.2.2.3.3) lower surface; The output shaft of described planetary gear mechanism (3.2.2.6.4) runs through and connects transverse slat (3.2.2.3.3), stretches into driven wheel transmission mechanism I (3.2.2.6.2) in gear drive I (3.2.2.6.2); Described chain wheel driving mechanism (3.2.2.6.3) is connected to gear drive I (3.2.2.6.2) lower surface; Described gear drive I (3.2.2.6.2) output shaft drive sprocket transmission mechanism (3.2.2.6.3);
Described turnover driving mechanism (3.2.2.4) comprises servomotor IV (3.2.2.4.1), gear drive II (3.2.2.4.2), Worm and worm-wheel gearing (3.2.2.4.3), upset driven wheel (3.2.2.4.4); Described gear drive II (3.2.2.4.2) is fixedly connected on base plate (3.2.2.1.1) lower surface; Described servomotor IV (3.2.2.4.1) is fixedly connected on base plate (3.2.2.1.1), and its driving shaft runs through base plate (3.2.2.1.1), stretches in gear drive II (3.2.2.4.2), driven wheel transmission mechanism II (3.2.2.4.2); Described Worm and worm-wheel gearing (3.2.2.4.3) comprises worm shaft (3.2.2.4.3.1), worm-wheel shaft (3.2.2.4.3.2), worm gear (3.2.2.4.3.3), Worm Wheel System casing (3.2.2.4.3.4); Described Worm Wheel System casing (3.2.2.4.3.4) is fixedly connected on base plate (3.2.2.1.1) upper surface, worm shaft (3.2.2.4.3.1) one end is bearing on Worm Wheel System casing (3.2.2.4.3.4) roof, the other end runs through base plate (3.2.2.1.1), stretching in gear drive II (3.2.2.4.2), is gear drive II (3.2.2.4.2) output shaft; Described worm-wheel shaft (3.2.2.4.3.2) one end is bearing on operating system base (3.2.2.1) riser (3.2.2.1.3), and the other end is bearing on Worm Wheel System casing (3.2.2.4.3.4) sidewall; Described worm gear (3.2.2.4.3.3), upset driven wheel (3.2.2.4.4) are fixedly connected on worm-wheel shaft (3.2.2.4.3.2), worm gear (3.2.2.4.3.3) engages with side plate I (3.2.2.3.1) peripheral teeth with the worm engaging on worm shaft (3.2.2.4.3.1), upset driven wheel (3.2.2.4.4).
2. intermittent rotary multistation shell operating desk manipulator according to claim 1, it is characterized in that: described operating system (3.2.2) also comprises position limiting structure (3.2.2.2), described position limiting structure (3.2.2.2) comprises two gag lever posts (3.2.2.2.1), described two gag lever posts (3.2.2.2.1) are distributed in operating system (3.2.2) central axis both sides, one end is fixedly connected on base plate (3.2.2.1.1) upper surface, and the other end overhangs along supporting arm (3.2.1) level overhanging direction.
3. intermittent rotary multistation shell operating desk manipulator according to claim 1 and 2, is characterized in that: described planetary gear mechanism (3.2.2.6.4) comprises driving gear (3.2.2.6.4.4), planetary gear mechanism casing (3.2.2.6.4.1), planetary gear (3.2.2.6.4.3), internal gear (3.2.2.6.4.2); Described servomotor II (3.2.2.6.1) is fixedly connected on planetary gear mechanism casing (3.2.2.6.4.1) upper surface; Described planetary gear mechanism casing (3.2.2.6.4.1) is fixedly connected on and connects transverse slat (3.2.2.3.3) upper surface; Servomotor II (3.2.2.6.1) output shaft runs through and connects transverse slat (3.2.2.3.3), stretches in planetary gear mechanism casing (3.2.2.6.4.1); Described internal gear (3.2.2.6.4.2) is bearing in planetary gear mechanism casing (3.2.2.6.4.1), driving gear (3.2.2.6.4.4) is arranged on internal gear (3.2.2.6.4.2) center, be fixedly connected on servomotor II (3.2.2.6.1) output shaft, planetary gear (3.2.2.6.4.3) engages with driving gear (3.2.2.6.4.4), internal gear (3.2.2.6.4.2) simultaneously; Described internal gear (3.2.2.6.4.2) is provided with output shaft down, stretches into driven wheel transmission mechanism I (3.2.2.6.2) in gear drive I (3.2.2.6.2).
4. intermittent rotary multistation shell operating desk manipulator according to claim 3, is characterized in that: described chain wheel driving mechanism (3.2.2.6.3) comprises chain (3.2.2.6.3.3), drive sprocket (3.2.2.6.3.1) and two supporting wheels (3.2.2.6.3.2); Along supporting arm (3.2.1) overhanging direction, supporting wheel (3.2.2.6.3.2) is arranged on the position before relative drive sprocket (3.2.2.6.3.1); Described drive sprocket (3.2.2.6.3.1), supporting wheel (3.2.2.6.3.2) are bearing in gear drive I (3.2.2.6.2) lower surface, and chain (3.2.2.6.3.3) is sleeved on drive sprocket (3.2.2.6.3.1), supporting wheel (3.2.2.6.3.2); The line of centres of two supporting wheels (3.2.2.6.3.2) is parallel to bearing pin (3.2.2.3.4) central axis; Chain (3.2.2.6.3.3) between two supporting wheels (3.2.2.6.3.2) protrudes the front end side connecting transverse slat (3.2.2.3.3).
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