CN203091586U - Single-machine multi-station mechanical arm - Google Patents

Abstract

The utility model discloses a single-machine multi-station mechanical arm, and belongs to the technical field of automatic mechanical arms. The single-machine multi-station mechanical arm comprises a first base plate, a second base plate, a bearing plate, a first sliding frame lifting mechanism, a second sliding frame lifting mechanism, a transition transmission mechanism, a synchronous driving mechanism and a lifting motor, wherein the first base plate and the second base plate are horizontally arranged and are parallel with each other, a workpiece extraction and transferring mechanism is arranged on the first base plate, another workpiece extraction and transferring mechanism is arranged on the second base plate, one end of the bearing plate is fixed with the left end of the first base plate, the other end of the bearing plate is fixed with the left end of the second base plate, the first sliding frame lifting mechanism is arranged on the first base plate, the second sliding frame lifting mechanism is arranged on the second base plate, the transition transmission mechanism is arranged on the bearing plate and is connected with the first sliding frame lifting mechanism and the second sliding frame lifting mechanism, the synchronous driving mechanism is arranged on the bearing plate and is connected with a pair of the workpiece extraction and transferring mechanisms, and the lifting motor is connected with the first sliding frame lifting mechanism or the second sliding frame lifting mechanism. The single-machine multi-station mechanical arm has the advantages of requiring no manual involvement of an operator in the entire process, being capable of relieving the operation intensity for workers, and being high in operation efficiency.

Description

The unit multi-station manipulator

Technical field

The utility model belongs to the automatic mechanical hand technical field, be specifically related to a kind of unit multi-station manipulator, be matched on the stamping machine, the workpiece that awaits the stamping machine drawing is extracted and is transferred to the drawing station or with the workpiece transfer of drawing to specific zone or collect workpiece after being shaped.

Background technology

Manipulator is also referred to as specific frock machinery, and so-called frock machinery is meant in to the manufacturing of certain or a certain series products and/or subsequent handling process workpiece is positioned and/or extracts and shifts, satisfying the special equipment of certain technological requirement, and need satisfy usually at workpiece and add the phenomenon of not having interference man-hour, extract requirements such as accurate and easy to operate and good reliability.With the punch process is example, in concrete operating process, by the workman workpiece to be punched of fixed dimension is positioned on the mould of punch press, treat the punch press stamping-out after, the workpiece that is shaped extracted and be transferred to next station by the workman, perhaps be transferred to the workpiece transporter.There is the big and inefficient shortcoming of labor strength in this operating type.Especially, carrying out unit at punch press even dashes, the separate unit punch press carries out multiple-project and connects under the situation of dashing, the workman need move processing work in the separate unit punch press, thereby need to drop into more labour, this is for being a kind of puzzlement really under the high situation of present human resources scarcity and labor cost violent wind.

Technical information about manipulator, in disclosed Chinese patent literature, be seen in, " transfer robot ", " Pneumatic manipulator " and " a kind of robot device " of CN100448632C bulletin that CN1096339C introduces that provide with " industry mechanical arm ", the CN1198698A that recommend as CN1042606C that exemplifies are provided, or the like.

As described above, because manipulator belongs to specific frock machinery, its generalization degree is extremely low, thereby it is at certain product or workpiece and design voluntarily and make with the mode of the cutting the garment according to the figure production firm by product or workpiece, so, the patent that is not limited to exemplify above for extract such as the flat workpiece of large scale such as back panel of liquid crystal display or similarly workpiece do not have referential technology enlightenment, for this reason, the applicant has done positive and useful design, finally formed technical scheme described below, and taking to have carried out simulated test in the applicant plant area under the strict secrecy provision, it is practicable that the result proves.

Summary of the invention

Task of the present utility model is to provide a kind of helping that workpiece to be processed or processed workpiece are transferred to another station and human resources, raising operating efficiency of using to alleviate labor strength, saves valuable and the unit multi-station manipulator of avoiding injuring workman's limbs with automated manner from a station.

Task of the present utility model is finished like this, and a kind of unit multi-station manipulator comprises one first bedplate and one second bedplate, and this first, second bedplate is the level of state each other and is provided with and keeps parallel mutually; A pair of workpiece extracts transfer device, this is arranged on described first bedplate one of them workpiece extraction transfer device that workpiece extracts in the transfer device, and this is arranged on described second bedplate another workpiece extraction transfer device that workpiece extracts in the transfer device, and corresponds to each other; One support plate, an end of this support plate and the left end of first bedplate are fixed, and the left end of the other end of support plate and second bedplate is fixed; One first travelling carriage elevating mechanism and one second travelling carriage elevating mechanism, the first travelling carriage elevating mechanism is arranged on first bedplate, and match with the described workpiece extraction transfer device on being arranged on first bedplate, and the second travelling carriage elevating mechanism is arranged on second bedplate, and extracts transfer device and match with described workpiece on being arranged on second bedplate; One is used to transition transmission mechanism that the described first travelling carriage elevating mechanism and the second travelling carriage elevating mechanism are synchronized with the movement, this transition transmission mechanism is arranged on the described support plate, and is connected with the first travelling carriage elevating mechanism and the second travelling carriage elevating mechanism simultaneously; One synchronous driving mechanism, this synchronous drive mechanism is arranged on the support plate, and is in transmission connection with described a pair of workpiece extraction transfer device; One lifting motor, this lifting motor and the described first travelling carriage elevating mechanism or be in transmission connection with the described second travelling carriage elevating mechanism.

In a specific embodiment of the present utility model, be arranged on structure that described workpiece on described second bedplate extracts transfer device and be be arranged on described first bedplate on workpiece to extract the structure of transfer device identical, and the workpiece extraction transfer device that is arranged on first bedplate comprises first, second column, head piece, hoisting cross beam, first, second drive, first driving-belt, one group of guide rail supporting plate, slide block guide rail, travelling carriage and at least one pair of workpiece extract arm, first column is fixed on described first bedplate towards a last side with vertical state, and be positioned at the left end of first bedplate, second column is fixed on first bedplate towards a last side with vertical state, and be positioned at the right-hand member of first bedplate, first, second column corresponds to each other, the top of the left end of head piece and first column is fixed, and the top of the right-hand member of head piece and second column is fixed, hoisting cross beam is positioned at the below of described head piece, the left end of this hoisting cross beam and first column are slidingly matched, and the right-hand member and second column are slidingly matched, be fixed with a hoisting cross beam horizontal guide rail at the length direction of this hoisting cross beam and towards a side surface of head piece, on this hoisting cross beam horizontal guide rail, be equipped with a cross sliding clock slidably, constitute an eccentric wheel mating groove at the length direction of hoisting cross beam and towards a side of the described first travelling carriage elevating mechanism, first drive is arranged on the left end of head piece rotationally, the described synchronous drive mechanism and first drive are in transmission connection, second drive is arranged on the right-hand member of head piece rotationally, one end of first driving-belt is nested with on first drive, and the other end of first driving-belt is nested with on second drive, on this first driving-belt, be equipped with driving-belt clamping plate, one group of guide rail supporting plate is along the length direction fixed interval of head piece, slide block guide rail and one group of guide rail supporting plate are fixed, and on this slide block guide rail, be equipped with a pair of driving-belt clamping plate slide block slidably, wherein one piece of driving-belt clamping plate slide block in this a pair of driving-belt clamping plate slide block is fixedlyed connected with an end of described driving-belt clamping plate, and another piece driving-belt clamping plate slide block in a pair of driving-belt clamping plate slide block is fixedlyed connected with the other end of driving-belt clamping plate, cooperate driving-belt clamping plate and first driving-belt is clamped by this a pair of driving-belt clamping plate slide block, the top of travelling carriage and driving-belt clamping plate are fixed, and fixedly connected with described cross sliding clock in the bottom of travelling carriage, workpiece extracts arm and is provided in travelling carriage up or down towards a side that is arranged on the workpiece extraction transfer device on described second bedplate, workpiece extracts arm and is provided with one group of negative pressure sucker, this group of negative pressure sucker is connected with depression generator by pipeline, described synchronous drive mechanism and described first drive are in transmission connection, the described first travelling carriage elevating mechanism matches with described hoisting cross beam, the described second travelling carriage elevating mechanism matches with the hoisting cross beam that workpiece on being arranged on second bedplate extracts transfer device, and described transition transmission mechanism is bearing in the middle part of the length direction of described support plate rotationally; Described lifting motor is fixed on described first bedplate, and is positioned at the right-hand member of first bedplate.

In another specific embodiment of the present utility model, on the motor shaft of described lifting motor, be fixed with a motor shaft terminal pad, this motor shaft terminal pad is towards the described first travelling carriage elevating mechanism, this first travelling carriage elevating mechanism comprises first worm gear reducer, the first transition connecting axle, first reverse box, first eccentric disc and first eccentric wheel, first worm gear reducer is fixed on the right-hand member of first bedplate, and it is corresponding with described lifting motor, end at the first worm gear reducer power input shaft of this first worm gear reducer is fixed with one first terminal pad, this first terminal pad is connected with described motor shaft terminal pad, first worm gear reducer has one first output shaft and one second output shaft, one end of the first transition connecting axle is connected with the first reverse box power shaft of first reverse box, the other end is connected with second output shaft, first reverse box is fixed on the left end of first bedplate, the first reverse box output shaft and the described transition transmission mechanism of this first reverse box are in transmission connection, first eccentric disc is fixed on described first output shaft, be fixed with one first eccentric shaft at this first eccentric disc towards first an eccentric side, first eccentric wheel is arranged on first eccentric shaft, and this first eccentric shaft matches with described eccentric wheel mating groove; The described second travelling carriage elevating mechanism comprises second worm gear reducer, the second transition connecting axle, second reverse box, second eccentric disc and second eccentric wheel, second worm gear reducer is fixed on the right-hand member of described second bedplate, be fixed with one first at the end of the second worm gear reducer power input shaft of this second worm gear reducer and connect dish, one end of the second transition connecting axle is connected with the second reverse box output shaft of second reverse box, the other end of the second transition connecting axle and described second connects dish and is connected, second reverse box is fixed on the left end of second bedplate, the second reverse box power input shaft of this second reverse box is in transmission connection with the described transition transmission mechanism that is arranged on the described support plate, second eccentric disc is fixed on the second worm gear reducer power output shaft of second worm gear reducer, be fixed with one second eccentric shaft at this second eccentric disc towards second an eccentric side, second eccentric wheel is fixed on second eccentric shaft, and this second eccentric wheel matches with the described second travelling carriage elevating mechanism.

In another specific embodiment of the present utility model, described transition transmission mechanism comprises one first connecting axle and one second connecting axle, first connecting axle is bearing on the first connecting axle supporting base rotationally, one end of this first connecting axle is connected with the described first reverse box output shaft, and the other end of first connecting axle is connected with an end of second connecting axle, the other end of second connecting axle is connected with the described second reverse box power input shaft, and second connecting axle is bearing on the second connecting axle supporting base rotationally, first, the second connecting axle supporting base all is fixed on the described support plate.

In another specific embodiment of the present utility model, described synchronous drive mechanism comprises motor, worm gear case, first transmission case, the first transition wheel carrier, second driving-belt, drive transition connecting axle, second transmission case, the second transition wheel carrier and the 3rd driving-belt, the first transmission roller box is fixed on an end of described support plate, the second transmission roller box is fixed on the other end of support plate, in the case chamber of the first transmission roller box, be provided with one first expansion tightening wheel rotationally, and in the case chamber of the second transmission roller box, be provided with one second expansion tightening wheel rotationally, motor cooperates with the worm gear case transmission, and be fixed on an end of support plate together with motor by worm gear case, the worm gear case output shaft of this worm gear case is being bearing in behind the case chamber of passing the described first transmission roller box on the output axle bed of an end that is fixed in support plate rotationally, and on the axis body of the described worm gear case output shaft in the case chamber that is positioned at first transmission case, be fixed with one the 3rd drive, the first transition wheel carrier is fixed on a side of the described left end of the described head piece that is arranged at the described workpiece extraction transfer device on first bedplate, on this first transition wheel carrier, be supported with an end of one first power axle rotationally, and the other end of this first power axle is bearing on the head piece rotationally, and on first power transmission shaft, be fixed with one first transition drive, described first drive is fixed on first power axle, second driving-belt is nested with simultaneously at the 3rd drive, on first expansion tightening wheel and the first transition drive, one end and the worm gear case of drive transition connecting axle are in transmission connection, the middle part is bearing on the described support plate rotationally, and the other end is bearing on the axle bed of the other end that is fixed in support plate behind the case chamber of passing the second transmission roller box rotationally, and on the axis body of the described drive transition connecting axle in the case chamber that is positioned at the second transmission roller box, be fixed with one the 4th drive, the second transition wheel carrier is fixed on the side of left end that the workpiece that is arranged on described second bedplate extracts the described head piece of transfer device, on this second transition wheel carrier, be supported with an end of one second power axle rotationally, and the other end of this second power axle is bearing on the head piece rotationally, and on second power axle, be fixed with one second transition drive, described first drive that is positioned at the described workpiece extraction transfer device on second bedplate is fixed on second power axle, and the 3rd driving-belt is nested with simultaneously at the 4th drive, on second expansion tightening wheel and the second transition drive.

Also have in the specific embodiment of the present utility model, be fixed with one first longitudinal rail at described first column towards a side of described second column, and towards a side of first column and in fixed-site one second longitudinal rail is arranged corresponding to first longitudinal rail at second column, the described left end of described hoisting cross beam is fixed with one first hoisting cross beam slide block, this the first hoisting cross beam slide block and first longitudinal rail are slidingly matched, and the described right-hand member of hoisting cross beam is fixed with one second hoisting cross beam slide block, this the second hoisting cross beam slide block and second longitudinal rail are slidingly matched, and on first column or second column, be fixed with one first signal picker, when first signal picker is fixed on described first column, the described first hoisting cross beam slide block matches with this first signal picker, when first signal picker was fixed on described second column, the described second hoisting cross beam slide block matched with this first signal picker.

More of the present utility model and in specific embodiment, described travelling carriage is by first, second side plate, top board, workpiece extracts arm restraining board and the cross sliding clock connecting plate constitutes, first, second side plate is vertically parallel each other, and first, bottom between second side plate is connected by end connecting plate, first, zone between second side plate constitutes the connecting plate chamber of stepping down, one end of top board and the top of first side plate are fixed, the top of the other end and second side plate is fixed, and fixedly connected with described driving-belt clamping plate in the middle part of top board, an end and first side plate that workpiece extracts arm restraining board are slidingly matched, the other end and second side plate are slidingly matched, described workpiece extracts arm and is fixed on the workpiece extraction arm restraining board with the horizontal boom state, the cross sliding clock connecting plate is stepped down corresponding to described connecting plate in the chamber, one end of this cross sliding clock connecting plate and workpiece extract arm restraining board and fix back to the side that workpiece extracts arm, and being stretched over connecting plate, the other end of cross sliding clock connecting plate steps down outside the chamber, and fixedly connected with described cross sliding clock, wherein: described left end and right-hand member at described head piece respectively are fixed with a secondary signal collector, and on described top board, being fixed with a signal picker trigger unit, this signal picker trigger unit matches with the secondary signal collector.

In of the present utility model and then specific embodiment, be fixed with one first fixed head guide rail at described first side plate towards the short transverse that described workpiece extracts a side of arm restraining board, be fixed with one second fixed head guide rail towards the short transverse that workpiece extracts a side of arm restraining board equally at described second side plate, an end that extracts arm restraining board at workpiece is fixed with one first slider guide, and the other end is fixed with one second slider guide, first slider guide and the first fixed head guide rail are slidingly matched, and second slider guide and the second fixed head guide rail are slidingly matched.

Of the present utility model again more and in specific embodiment, described motor is the motor with rotating function.

In again of the present utility model and then specific embodiment, the quantity that described workpiece extracts arm is parallel a pair of, offer the fixing groove of adjusting of one group of negative pressure sucker at each workpiece extraction arm, described negative pressure sucker is being fixed corresponding to fixing position and the workpiece extraction arm of adjusting groove of negative pressure sucker.

The technical scheme that the utility model provides drives the motion of the first travelling carriage elevating mechanism by lifting motor, and make the second travelling carriage elevating mechanism realize being synchronized with the movement with the first travelling carriage elevating mechanism by the transition transmission mechanism, make and be separately positioned on first, a pair of workpiece on second bedplate extracts travel mechanism's elevating movement, make a pair of workpiece extract the transfer device horizontal movement by synchronous drive mechanism simultaneously, thereby can extract the collaborative work of transfer device and workpiece is transferred to another station from a station under the extraction state by a pair of workpiece, because need not the operator in the whole process artificially participates in, thereby not only can alleviate workman's manipulation strength, and has the high strong point of operating efficiency.

Description of drawings

Fig. 1 is example structure figure of the present utility model.

Fig. 2 is cutaway view and the application examples schematic diagram of Fig. 1.

The specific embodiment

For the auditor that the makes Patent Office especially public can be expressly understood technical spirit of the present utility model and beneficial effect more, the applicant general elaborates in the mode of embodiment below, but to the description of embodiment all is not restriction to the utility model scheme, any according to the utility model design done only for pro forma but not substantial equivalent transformation all should be considered as the technical solution of the utility model category.

Embodiment:

See also Fig. 1, before accompanying drawing is described, the applicant need to prove: all notions of front, rear, left and right and upper and lower and so on directionality (or claiming directionality) that relates to below are all at illustrated location status, therefore can not limit the technical solution of the utility model with this, after that is to say that not being taken in direction changes, think the utility model category that dissociated, conveniently understand the utility model because adopt the statement of directionality only to be convenient to the public.

Provide shape each other, size or claimed length and corresponding to one first bedplate 1a of width and one second bedplate 1b, (as shown in Figure 2) space between first, second bedplate 1a, the 1b constitutes workpiece movement zone according to common practise with the level setting and keep parallel each other under user mode for this first, second bedplate 1a, 1b.Again, between first, second bedplate 1a, 1b, also be provided with a support plate 3, first, second bedplate 1a, 1b held together by this support plate 3.Specifically by shown in Figure 1, one end of support plate 3 preferably adopts the left end of the screw and the first bedplate 1a to fix, and the other end of support plate 3 is fixed with the left end of the screw and the second bedplate 1b equally, and support plate 3 is corresponding to the top of the left end of first, second bedplate 1a, 1b.

Provide a pair of workpiece and extracted transfer device 2, one of them workpiece extraction transfer device 2 that this a pair of workpiece extracts in the transfer device 2 is fixed on the aforesaid first bedplate 1a, and another workpiece extraction transfer device 2 that a pair of workpiece extracts in the transfer device 2 is fixed on the aforesaid second bedplate 1b, and corresponds to each other.Because it is identical that a pair of workpiece extracts the concrete structure and the action principle of transfer device 2, though therefore the applicant only is described in detail at the workpiece extraction transfer device 2 that is arranged on the first bedplate 1a below, can't produce puzzled to the understanding that is arranged at the workpiece extraction transfer device 2 on the second bedplate 1b.

The above mentioned workpiece that is arranged on the first bedplate 1a extracts transfer device 2 and comprises first, the second column 21a, 21b, head piece 22, hoisting cross beam 23, first, the second drive 24a, 24b, first driving-belt 25, one group of guide rail supporting plate 26, slide block guide rail 27, travelling carriage 28 and at least one pair of workpiece extract arm 29, the first column 21a is fixed on the left end of the aforesaid first bedplate 1a with vertical state, that is to say the first column 21a and the first bedplate 1a vertical fixing, specifically be the bottom of the first column 21a and the left end of the first bedplate 1a to be fixed towards a last side surface, also can the first column 21a and the first bedplate 1a be fixed certainly by welding manner by for example illustrated screw of securing member.The second column 21b is fixed on the right-hand member of the first bedplate 1a equally with vertical state, and corresponding with the first column 21a, specifically as the description to the first column 21a.Be fixed with one first longitudinal rail 211 at the first column 21a towards the short transverse of the side of the second column 21b, and be fixed with one second vertical guide rail 212 at the second column 21b towards the short transverse of the side of the first column 21a, and first, second longitudinal rail 211,212 corresponds to each other.In the present embodiment, on the first column 21a, be fixed with one first signal picker 213, certainly, if this first signal picker 213 is fixed on the second column 21b, should be considered as equivalent substitution so and still belongs to the disclosed technology contents category of the utility model.Again, in the present embodiment, first signal picker 213 adopts travel switch, by circuit and electric control box control connection.And, if adopt microswitch, position to substitute travel switch, then undoubtedly should be considered as being equal to alternative near switch, tongue tube and even hall sensing element.Preferred scheme also can also be provided with the signal picker that promptly is equivalent to first signal picker 213 accordingly on the second column 21b.

The top of the left end of aforesaid head piece 22 and the first column 21a is fixed, and the top of the right-hand member of head piece 22 and the second column 21b is fixed, and that is to say that head piece 22 is with the top of airborne corresponding to the first bedplate 1a.Aforesaid hoisting cross beam 23 is corresponding to the below of head piece 22, the left end of this hoisting cross beam 23 and the first column 21a are slidingly matched, and the right-hand member and the second column 21b are slidingly matched, specifically: the left end at hoisting cross beam 23 is fixed with one first hoisting cross beam slide block 232, and this first hoisting cross beam slide block 232 is slidingly matched with aforesaid first longitudinal rail 211; Right-hand member at hoisting cross beam 23 is fixed with one second hoisting cross beam slide block 233, and this second hoisting cross beam slide block 233 is slidingly matched with aforesaid second longitudinal rail 212.Again, be fixed with a hoisting cross beam horizontal guide rail 231 at the length direction of hoisting cross beam 23 and towards a side surface of head piece 22, slide arrangement has (being equipped with) cross sliding clock 2311 on this hoisting cross beam horizontal guide rail 231.And, constitute an eccentric wheel mating groove 234 at the length direction of hoisting cross beam 23 and towards a side of the following first travelling carriage elevating mechanism 4 that also will describe in detail, be mated for first travelling carriage elevating mechanism 4 by this eccentric wheel mating groove 43.Specifically, make hoisting cross beam 23 rise or descend by the first travelling carriage elevating mechanism 4.

The aforesaid first drive 24a is arranged on the left end of head piece 22 rotationally, and synchronous drive mechanism 7 and this first drive 24a that also will describe in detail below are in transmission connection, so that drive this first drive 24a by synchronous drive mechanism 7.The second drive 24b is arranged on the right-hand member of head piece 22 rotationally.Preferably, a pair of tensioner degree also can be set at the right-hand member of head piece 22 adjust screw rod 222, this is adjusted screw rod 222 to the tensioner degree and is connected with a pair of drive axle bed of the second drive 24b, and the two ends of power axle 241 pivot is bearing on the corresponding drive axle bed, and the drive axle bed is provided with on the corresponding wall body of head piece 22 left ends movably.One end of first driving-belt 25 is nested with on the first drive 24a, and the other end is nested with on the second drive 24b, is equipped with driving-belt clamping plate 251 on this first driving-belt 25.In the present embodiment, aforesaid first, second drive 24a, 24b are synchronous pulley, and first driving-belt 25 is to be with synchronously.If yet replace synchronous pulley with belt pulley or sprocket wheel, and correspondingly replace band synchronously with driving belt or chain, should be considered as equivalence so and replace.

The two ends of aforesaid one group of guide rail supporting plate 26 are respectively fixed with the corresponding wall body of head piece 22 with supporting plate hold-down screw 261 along the length direction of head piece 22.Slide block guide rail 27 and one group of guide rail supporting plate 26 are fixing, and on this slide block guide rail 27, slide and be equipped with a pair of driving-belt clamping plate slide block 271, wherein one piece of driving-belt clamping plate slide block 271 in this a pair of driving-belt clamping plate slide block 271 is fixedlyed connected with an end of aforesaid driving-belt clamping plate 251, and another piece driving-belt clamping plate slide block 271 in a pair of driving-belt clamping plate slide block 271 is fixedlyed connected with the other end of driving-belt clamping plate 251.Cooperate driving-belt clamping plate 251 that first driving-belt 25 is clamped by a pair of driving-belt clamping plate slide block 271 therefrom, be synchronized with the movement so that a pair of driving-belt clamping plate slide block 271 shows with first driving-belt 25 when sliding on slide block guide rail 27.

The top of aforesaid travelling carriage 28 and driving-belt clamping plate 251 are fixing, and fixedly connected with aforesaid cross sliding clock 2311 in the bottom of travelling carriage 28.In the present embodiment, aforesaid workpiece extracts arm 29 to be had a pair of, this a pair of workpiece extraction arm 29 can slide up or down and be provided in travelling carriage 28 towards a side that is arranged on the workpiece extraction transfer device 2 on the second bedplate 1b, and this a pair of workpiece extraction arm 29 that is arranged on the workpiece extraction transfer device 2 on the second bedplate 1b is provided in travelling carriage 28 slidably towards a side that is arranged on the workpiece extraction transfer device 2 on the first bedplate 1a.Shown in figure, the length direction that extracts arm 29 at workpiece is arranged at intervals with one group of negative pressure sucker 291, and each negative pressure sucker 291 is connected with depression generator by pipeline, and depression generator is vavuum pump or other similar apparatus for example.Shown in figure, extract each spaced apart fixing groove 292 of adjusting of one group of (present embodiment is three) negative pressure sucker that is provided with of length direction of arm 29 at a pair of workpiece, the air intake duct interface 2911 of negative pressure sucker 291 probes into that negative pressure sucker is fixing to be adjusted in the groove 292 and with nut 29111 qualifications.

Above mentioned travelling carriage 28 preferably but not the structure that definitely is limited to is as follows: extract arm restraining board 254 and cross sliding clock connecting plate 285 constitutes by first, second side plate 281,282, top board 283, workpiece, first, second side plate 281,282 is vertically parallel each other, and the bottom between first, second side plate 281,282 is that the bottom of short transverse is connected by an end connecting plate 286, and preferred scheme is processed into first, second side plate 281,282 and end connecting plate 286 three in one the structure of the U font that is English alphabet.One end of top board 283 and the top of first side plate 281 are fixed, the top of the other end and second side plate 282 is fixed, and the middle part of top board 283 is fixing with aforesaid driving-belt clamping plate 251 and a pair of driving-belt clamping plate slide block 271 with top board hold-down screw 2832, specifically, by top board hold-down screw 2832 top board 283, driving-belt clamping plate 251 and a pair of driving-belt clamping plate slide block 271 threes are fixed together, thereby can guarantee that whole travelling carriage 28 is following head piece about 23 reposefully and moving back and forth.An end and first side plate 281 that workpiece extracts arm restraining board 284 are slidingly matched, and the other end and second side plate 282 are slidingly matched, and that is to say that workpiece extracts arm restraining board 284 and can move up and down in the short transverse of first, second side plate 281,282.Aforesaid workpiece extracts arm 29 and is fixed on the workpiece extraction arm restraining board 284 with the horizontal boom state.Shown in figure, after the top board 283 and the top of first, second side plate 281,282 are fixing, the connecting plate that makes space between first, second side plate 281,282 constitute the square shape of the Chinese character chamber 287 of stepping down.Cross sliding clock connecting plate 285 is stepped down corresponding to connecting plate in the chamber 287, one end of this cross sliding clock connecting plate 285 and workpiece extract arm restraining board and fix back to the side that workpiece extracts arm 29, and the other end of cross sliding clock connecting plate 285 leans out the connecting plate chamber 287 of stepping down, and fixing with aforesaid cross sliding clock 2311 with cross sliding clock hold-down screw 2851.

Please continue to see Fig. 1, be fixed with one first fixed head guide rail 2811 at aforesaid first side plate 281 towards the short transverse that workpiece extracts a side of arm restraining board 284, and be fixed with one second fixed head guide rail 2821 towards the short transverse that workpiece extracts a side of arm restraining board 284 equally at second side plate 282, extract an end of arm restraining board 284 and one first slider guide 2841 is arranged at workpiece in fixed-site corresponding to the first fixed head guide rail 2811, and the other end and one second slider guide 2842 is arranged in fixed-site corresponding to the second fixed head guide rail 2821, first slider guide 2841 and the first fixed head guide rail 2811 are slidingly matched, and second slider guide 2842 and the second fixed head guide rail 2821 are slidingly matched.

Aforesaid top board 283 is provided with one and is used for the signal picker trigger unit 2831 that matches with the aforesaid secondary signal collector 221 that is arranged on head piece 22 left ends one side, when this signal picker trigger unit 2831 triggers the secondary signal collector 221 of the left end that is positioned at head piece 22, then give the top electric control box of having mentioned with signal feedback by secondary signal collector 221, send instruction and synchronous drive mechanism 7 is quit work by electric control box, because the position that the travelling carriage 28 of this moment is moved to the left on head piece 22 has reached capacity; Same reason when signal picker trigger unit 2831 touches the secondary signal collector 221 of the right-hand member that is positioned at head piece 22, shows that then the position that travelling carriage 28 moves right reaches capacity on head piece 22, synchronous drive mechanism 7 quits work.

With regard to aforesaid first signal picker 213, hoisting cross beam 23 rises, and when gathering signal by first signal picker 213, then give electric control box with signal feedback by first signal picker 213, send instruction by electric control box and give lifting motor 8, make lifting motor 8 break-ofves, otherwise with example.

The first travelling carriage elevating mechanism 4 and the second travelling carriage elevating mechanism 5 have been provided, the first travelling carriage elevating mechanism 4 is arranged on the first bedplate 1a, and the second travelling carriage elevating mechanism 5 is arranged on the second bedplate 1b, the first travelling carriage elevating mechanism 4 comprises first worm gear reducer 41, the first transition connecting axle 42, first reverse box 43, first eccentric disc 44 and first eccentric wheel 45, first worm gear reducer 41 is arranged on the first worm gear block 414, and the first worm gear block 414 is fixed by the right-hand member of the first worm gear block hold-down screw 4141 and the first bedplate 1a.In the present embodiment, owing to the top lifting motor of having mentioned 8 is arranged at the right-hand member (being positioned at the right side of first worm gear case 41) of the first bedplate 1a, and constitute a motor shaft terminal pad 81 on the motor shaft of this lifting motor 8, therefore the left end at the first worm gear reducer power input shaft 411 of this first worm gear reducer 41 constitutes one first terminal pad 4111, and this first terminal pad 4111 is fixedlyed connected with motor shaft terminal pad 81 by screw.First worm gear reducer 41 has one first output shaft 412 and one second output shaft 413, constitutes one second terminal pad 4131 at the end of second output shaft 413.One end of the first transition connecting axle 42 is that illustrated left end constitutes one the 3rd terminal pad 421, the 3rd terminal pad 421 is connected with the 4th terminal pad 4311 of the first reverse box power shaft, 431 ends of first reverse box 43, the other end of the first transition connecting axle 42 is that the right-hand member of shown position state constitutes one the 5th terminal pad, 422, the five terminal pads 422 and is connected with aforesaid second terminal pad 4131.First reverse box 43 is fixed on the first tumbler gear block 433, and the first tumbler gear block 433 is fixed on the left end of the first bedplate 1a, constituting one the 6th terminal pad, 4321, the six terminal pads 4321 at the end of the first reverse box output shaft 432 of this first reverse box 43 is connected with the following transition transmission mechanism 6 that will describe.First eccentric disc 44 is fixed on (perhaps directly being formed in) aforementioned first output shaft 412, be fixed with one first eccentric shaft 441 at this first eccentric disc 44 towards a side of first eccentric wheel 45, first eccentric wheel 45 is arranged on first eccentric shaft 441, and this first eccentric wheel 441 matches with aforesaid eccentric wheel mating groove 231.

When lifting motor 8 work, drive first terminal pad 4111 by the motor shaft terminal pad 81 that is fixed on the motor shaft, make 41 work of first worm gear reducer, thereby drive first eccentric disc 44 by first output shaft 42, drive first eccentric wheel 45 by first eccentric disc 44, because first eccentric wheel 45 matches with eccentric wheel mating groove 243, thereby by first eccentric wheel 45 drive hoisting cross beams, 23 risings or the decline.Second terminal pad 4131 of while by aforementioned second output shaft 413 of first worm gear reducer 41 drives the first transition connecting axle 42, drive first reverse box 43 by the first transition connecting axle 42, drive transition transmission mechanism 6 by the 6th terminal pad 4321 on the first reverse box output shaft 432 of first reverse box 43, drive the second travelling carriage elevating mechanism 5 that is arranged on the second bedplate 1b by transition transmission mechanism 6, to realize being synchronized with the movement of first, second travelling carriage elevating mechanism 4,5.

It is identical with the structure of the first travelling carriage elevating mechanism 4 that the structure of the aforesaid second travelling carriage elevating mechanism 5 comes down to, comprise second worm gear reducer 51, the second transition connecting axle 52, second reverse box 53, second eccentric disc 54 and second eccentric wheel 55, second worm gear reducer 51 is arranged on the second worm gear block 513, and the second worm gear block 513 is fixed by the right-hand member of the second worm gear block hold-down screw 5131 and the second bedplate 1b, second worm gear reducer 51 has one second worm gear reducer power shaft 511 and one second worm gear reducer power output shaft 512, and constitute one first at the end of the second worm gear reducer power input shaft 511 and connect dish 5111, one end of the second transition connecting axle 52 is that the left end of shown position state constitutes one the 7th terminal pad 521, the 7th terminal pad 521 is connected with second reverse box 53, the other end of the second transition connecting axle 52 is that the right-hand member of shown position constitutes one the 8th terminal pad, 522, the eight terminal pads 522 and aforesaid first and connects dish and 5111 be connected.Second reverse box 53 is fixed on the second tumbler gear block 533, and the second tumbler gear block 533 is screwed the left end at the first bedplate 1b, second reverse box 53 has one second reverse box output shaft 531 and one second reverse box power shaft 532, end at the second reverse box output shaft 531 constitutes one the 9th terminal pad 5311, the 9th terminal pad 5311 is connected with aforesaid the 7th terminal pad 521, constituting 1 the tenth terminal pad, 5321, the ten terminal pads 5321 at the end of the second reverse box power shaft 532 is connected with the top transmission mechanism 6 of having mentioned and being about to narration below.Second eccentric disc 54 is fixed on the second worm gear reducer power output shaft 512 of second worm gear reducer 51, and be fixed with one second eccentric shaft 541 towards a side of second eccentric wheel 55 at this second eccentric disc 54, second eccentric wheel 55 is fixed on second eccentric shaft 541, and the eccentric wheel mating groove 234 that this second eccentric wheel 55 and workpiece on being arranged on the second bedplate 1b extract on the hoisting cross beam 23 of transfer device 2 matches.

The transition transmission mechanism of mentioning repeatedly above 6 comprises one first connecting axle 61 and one second connecting axle 62, first connecting axle 61 is bearing on the first connecting axle supporting base 611 rotationally, one end of this first connecting axle 61 constitutes 1 the 11 terminal pad 612, the 11 terminal pad 612 is connected with aforesaid the 6th terminal pad 4321, the other end of first connecting axle 61 is connected with an end of second connecting axle 612 by shaft coupling 613, second connecting axle 612 is bearing on the second connecting axle supporting base 621 rotationally, constituting 1 the 12 terminal pad 622, the, 12 terminal pads 622 at the other end of second connecting axle 62 is connected with aforesaid the tenth terminal pad 5321.The second connecting axle supporting base 621 evenly is fixed on the aforesaid support plate 3 in the aforesaid first connecting axle supporting base 611.

By schematic structure as can be known, can realize being synchronized with the movement of first, second travelling carriage elevating mechanism 4,5 by the transition transmission mechanism 6 of said structure.In addition,, and be in transmission connection, should be considered as so being equal to and replace and still belong to the disclosed technology contents category of the utility model with second worm gear reducer 51 if aforesaid lifting motor 8 is transferred to the right-hand member of the second bedplate 1b.

Please continue to see Fig. 1, provided a synchronous driving mechanism 7, this synchronous drive mechanism 7 preferably but not the structure that definitely is limited to is as follows: comprise motor 71, worm gear case 72, the first transmission roller box 73, the first transition wheel carrier 74, second, the 3rd driving-belt 75a, 75b, drive transition connecting axle 76, the second transmission roller box 77 and the second transition wheel carrier 78, the end that the first transmission roller box 73 is fixed on aforesaid support plate 3 promptly is fixed on the end of support plate 3 towards the first bedplate 1a, the second transmission roller box 77 is fixed on the other end of support plate 3, promptly be fixed on the end of support plate 3 towards the second bedplate 1b, in the case chamber of the first transmission roller box 73, be provided with one first expansion tightening wheel 731 rotationally, and in the case chamber of the second transmission roller box 77, be provided with one second expansion tightening wheel 771 rotationally by the second tensioner wheel shaft 7711 by the first tensioner wheel shaft 7311.Preferred scheme is to offer the adjustment groove on the corresponding tank wall of first, second transmission roller box 73,77, so that regulate in the length range of adjusting groove for first, second tensioner wheel shaft 7311,7711, thereby guarantee is to the rational tensioner effect of driving-belt.The servomotor of motor 71 for having the rotating function, this motor 71 cooperates with worm gear case 72 transmissions, and be fixed on the end of support plate 3 together with motor 71 towards the first bedplate 1a by worm gear case 72, the worm gear case output shaft 721 of this worm gear case 72 is being bearing on the output axle bed 7211 that is fixed on the support plate 3 behind the case chamber of passing the aforesaid first transmission roller box 73 rotationally, and is fixed with one the 3rd drive 7212 on the axis body of the aforementioned worm gear case output shaft 721 in the case chamber that is positioned at the first transmission roller box 73.The first transition wheel carrier 74 is fixed on the side of left end that the said workpiece that is arranged on the first bedplate 1a is extracted the head piece 22 of transfer device 2, on this first transition wheel carrier 74, be supported with an end of one first power axle 741 rotationally, and the other end of this first power axle 741 is bearing on the head piece 22 rotationally, and on first power axle 741, be fixed with one first transition drive 7411, the first drive 24a that above mentioned workpiece extracts transfer device 2 is fixed on first power axle 741, and is promptly coaxial with the first transition drive 7411.The second driving-belt 75a is nested with simultaneously on the 3rd drive 7212, first expansion tightening wheel 731 and the first transition drive 7411.One end and the worm gear case 72 of drive transition connecting axle 76 are in transmission connection, the middle part is bearing on one group of bearing block 762, and the other end is bearing on the axle bed of the other end that is fixed in support plate 3 behind the case chamber of passing the second transmission roller box 77 rotationally, and is fixed with one the 4th drive 761 on the axis body of the drive transition connecting axle 76 in the case chamber that is positioned at the second transmission roller box 77.Because drive transition connecting axle 76 is comparatively tediously long, therefore is furnished with connecting axle shaft coupling 763 at the middle part of length direction.The second transition wheel carrier 78 is fixed on the side of left end that the workpiece that is arranged on the second bedplate 1b extracts the head piece 22 of transfer device 2, on this second transition wheel carrier 78, be supported with an end of one second power axle 781 rotationally, and the other end of this second power axle 781 is bearing on the crossbeam 22 rotationally, and on second power axle 781, be fixed with one second transition drive 7811, the aforementioned first drive 24a that is positioned at the workpiece extraction transfer device 2 on the second bedplate 1b is fixed on this second power axle 781, promptly with the 7811 coaxial settings of the second transition drive.The 3rd driving-belt 75b is nested with simultaneously on the 4th drive 761, second expansion tightening wheel 771 and the second transition drive 7811.

As previously mentioned, owing in the present embodiment aforesaid first, second drive 24a, 24b are selected and use synchronous pulley, and correspondingly first driving-belt 25 is selected with being with synchronously, therefore first expansion tightening wheel 731, the 3rd drive 7212 and the first transition drive 7411 are all selected and are used synchronous pulley, and the second driving-belt 75a selects with being with synchronously; Second expansion tightening wheel 771, the 4th drive 761 and the second transition drive 7811 selected equally use synchronous pulley, and the 3rd driving-belt 75b selects with band synchronously.

Application examples:

See also Fig. 2 and in conjunction with Fig. 1, figure 2 illustrates the patrix 9a on the stamping machine and the support 9c of counterdie 9b and stamping machine, under user mode, first, second bedplate 1a of the present utility model, 1b and support 9c are fixed.When will be, but be not limited to backboard with the workpiece 10(workpiece 10 of Fig. 2 signal backboard of liquid crystal TV set for example) extract and transfer to when implementing drawing between upper and lower mould 9a, the 9b from a station.Suppose that the position of travelling carriage 28 on head piece 22 of a pair of workpiece extraction transfer device 2 is in the left end of head piece 22, promptly is in first station.Lifting motor 8 work this moment, drive first worm gear reducer, 41 work of the first travelling carriage elevating mechanism 4 by lifting motor 8, it is descending to make first eccentric wheel 45 drive hoisting cross beam 23, because the cross sliding clock connecting plate 285 of travelling carriage 28 is connected with cross sliding clock 2311, owing to also extracting arm restraining board 284 with the workpiece that can slide up and down, cross sliding clock connecting plate 285 fixedlys connected again, therefore when hoisting cross beam 23 is descending, extracts arm restraining board 284 by workpiece and drive a pair of workpiece to extract arm 29 descending.Owing to be synchronized with the movement by 6 guarantees of transition transmission mechanism between first, second travelling carriage elevating mechanism 4,5, therefore the workpiece that is arranged on the workpiece extraction transfer device 2 on the second bedplate 1b extracts also DL synchronization of arm 29, promptly second eccentric wheel 55 by the second travelling carriage elevating mechanism 5 makes hoisting cross beam 23 descending, and the negative pressure sucker 291 that extracts on the arm 29 until the workpiece that makes a pair of workpiece extract transfer device 2 contacts with the surface of workpiece 10 simultaneously., for example the work of vavuum pump under by negative pressure sucker 291 pair workpiece 10 reliably held at depression generator this moment.Then under the task again of lifting motor 8, the hoisting cross beam 23 that simultaneously a pair of workpiece is extracted transfer device 2 by first, second eccentric wheel 45,55 is up, makes the workpiece 10 that is held by negative pressure sucker 291 be in vacant state.Synchronous drive mechanism 7 work under this state, worm gear case output shaft 721 by worm gear case 72 drives the 3rd drive 7212, drive the first transition drive 7411 through the second driving-belt 75a, because the first drive 24a is coaxial with the first transition drive 7411, therefore first power axle 741 by the first transition drive 7411 drives the first drive 24a, make first driving-belt 25 to left movement, because the top board 283 of travelling carriage 28 is fixedlyed connected with the driving-belt clamping plate 251 and the driving-belt clamping plate slide block 271 of driving-belt 25, therefore drive travelling carriage 28 synchronously to left dislocation at first driving-belt 25 during to left movement, until the workpiece 10 that is held by negative pressure sucker 291 is transplanted on by on shown in Figure 2, counterdie 9a, between the 9b, this moment, lifting motor 8 was worked once again, so that make first, second eccentric wheel 45,55 force the hoisting cross beam 23 of a pair of workpiece extraction transfer device 2 descending, workpiece 10 is corresponded on the counterdie 9b, the depression generator of this moment quits work, negative pressure sucker 291 is discharged workpiece 10, cooperate counterdie 9b to workpiece 10 drawings by patrix 9a.In this process, after travelling carriage 28 arrives aforesaid second station and after negative pressure sucker 291 discharges workpiece 10, motor 71 reverse operations of synchronous drive mechanism 7, the just displacement to the right of first driving-belt 25, until making travelling carriage 28 turn back to original state, promptly be in the left end of head piece 22, repeat said process and get final product.

Claims (10)

1. a unit multi-station manipulator is characterized in that comprising one first bedplate (1a) and one second bedplate (1b), and this first, second bedplate (1a, 1b) is the level of state each other and is provided with and keeps parallel mutually; A pair of workpiece extracts transfer device (2), this is arranged on described first bedplate (1a) one of them workpiece extraction transfer device (2) that workpiece extracts in the transfer device (2), and this is arranged on described second bedplate (1b) another workpiece extraction transfer device (2) that workpiece extracts in the transfer device (2), and corresponds to each other; One support plate (3), the left end of end of this support plate (3) and first bedplate (1a) is fixed, and the left end of the other end of support plate (3) and second bedplate (1b) is fixed; One first travelling carriage elevating mechanism (4) and one second travelling carriage elevating mechanism (5), the first travelling carriage elevating mechanism (4) is arranged on first bedplate (1a), and match with the described workpiece extraction transfer device (2) on being arranged on first bedplate (1a), and the second travelling carriage elevating mechanism (5) is arranged on second bedplate (1b), and extracts transfer device (2) and match with described workpiece on being arranged on second bedplate (1b); One is used to transition transmission mechanism (6) that the described first travelling carriage elevating mechanism (4) and the second travelling carriage elevating mechanism (5) are synchronized with the movement, this transition transmission mechanism (6) is arranged on the described support plate (3), and is connected with the first travelling carriage elevating mechanism (4) and the second travelling carriage elevating mechanism (5) simultaneously; One synchronous driving mechanism (7), this synchronous drive mechanism (7) is arranged on the support plate (3), and is in transmission connection with described a pair of workpiece extraction transfer device (2); One lifting motor (8), this lifting motor (8) is in transmission connection with the described first travelling carriage elevating mechanism (4) or with the described second travelling carriage elevating mechanism (5).

2. unit multi-station manipulator according to claim 1, it is characterized in that being arranged on structure that described workpiece on described second bedplate (1b) extracts transfer device (2) and be be arranged on described first bedplate (1a) on workpiece to extract the structure of transfer device (2) identical, and the workpiece extraction transfer device (2) that is arranged on first bedplate (1a) comprises first, second column (the 21a, 21b), head piece (22), hoisting cross beam (23), first, second drive (the 24a, 24b), first driving-belt (25), one group of guide rail supporting plate (26), slide block guide rail (27), travelling carriage (28) and at least one pair of workpiece extract arm (29), first column (21a) is fixed on described first bedplate (1a) towards a last side with vertical state, and be positioned at the left end of first bedplate (1a), second column (21b) is fixed on first bedplate (1a) towards a last side with vertical state, and be positioned at the right-hand member of first bedplate (1a), first, second column (the 21a, 21b) correspond to each other, the top of the left end of head piece (22) and first column (21a) is fixed, and the top of the right-hand member of head piece (22) and second column (21b) is fixed, hoisting cross beam (23) is positioned at the below of described head piece (22), left end of this hoisting cross beam (23) and first column (21a) are slidingly matched, and right-hand member and second column (21b) are slidingly matched, be fixed with a hoisting cross beam horizontal guide rail (231) at the length direction of this hoisting cross beam (23) and towards a side surface of head piece (22), on this hoisting cross beam horizontal guide rail (231), be equipped with a cross sliding clock (2311) slidably, constitute an eccentric wheel mating groove (234) at the length direction of hoisting cross beam (23) and towards a side of the described first travelling carriage elevating mechanism (4), first drive (24a) is arranged on the left end of head piece (22) rotationally, described synchronous drive mechanism (7) is in transmission connection with first drive (24a), second drive (24b) is arranged on the right-hand member of head piece (22) rotationally, one end of first driving-belt (25) is nested with on first drive (24a), and the other end of first driving-belt (25) is nested with on second drive (24b), on this first driving-belt (25), be equipped with driving-belt clamping plate (251), one group of guide rail supporting plate (26) is along the length direction fixed interval of head piece (22), slide block guide rail (27) is fixing with one group of guide rail supporting plate (26), and on this slide block guide rail (27), be equipped with a pair of driving-belt clamping plate slide block (271) slidably, wherein one piece of driving-belt clamping plate slide block (271) in this a pair of driving-belt clamping plate slide block (271) is fixedlyed connected with an end of described driving-belt clamping plate (251), and another piece driving-belt clamping plate slide blocks (271) in a pair of driving-belt clamping plate slide block (271) are fixedlyed connected with the other end of driving-belt clamping plate (251), by this a pair of driving-belt clamping plate slide block (271) cooperates driving-belt clamping plate (251) first driving-belt (25) is clamped, the top of travelling carriage (28) and driving-belt clamping plate (251) are fixing, and fixedly connected with described cross sliding clock (2311) in the bottom of travelling carriage (28), workpiece extracts arm (29) and is provided in travelling carriage (28) up or down towards a side that is arranged on the workpiece extraction transfer device (2) on described second bedplate (1b), workpiece extracts arm (29) and is provided with one group of negative pressure sucker (291), this one group of negative pressure sucker (291) is connected with depression generator by pipeline, described synchronous drive mechanism (7) is in transmission connection with described first drive (24a), the described first travelling carriage elevating mechanism (4) matches with described hoisting cross beam (23), the described second travelling carriage elevating mechanism (5) matches with the hoisting cross beam (23) that workpiece on being arranged on second bedplate (1b) extracts transfer device (2), and described transition transmission mechanism (6) is bearing in the middle part of the length direction of described support plate (3) rotationally; Described lifting motor (8) is fixed on described first bedplate (1a), and is positioned at the right-hand member of first bedplate (1a).

3. unit multi-station manipulator according to claim 2, it is characterized in that on the motor shaft of described lifting motor (8), being fixed with a motor shaft terminal pad (81), this motor shaft terminal pad (81) is towards the described first travelling carriage elevating mechanism (4), this first travelling carriage elevating mechanism (4) comprises first worm gear reducer (41), the first transition connecting axle (42), first reverse box (43), first eccentric disc (44) and first eccentric wheel (45), first worm gear reducer (41) is fixed on the right-hand member of first bedplate (1a), and it is corresponding with described lifting motor (8), end at the first worm gear reducer power input shaft (411) of this first worm gear reducer (41) is fixed with one first terminal pad (4111), this first terminal pad (4111) is connected with described motor shaft terminal pad (81), first worm gear reducer (41) has one first output shaft (412) and one second output shaft (413), one end of the first transition connecting axle (42) is connected with the first reverse box power shaft (431) of first reverse box (43), the other end is connected with second output shaft (413), first reverse box (43) is fixed on the left end of first bedplate (1a), the first reverse box output shaft (432) of this first reverse box (43) is in transmission connection with described transition transmission mechanism (6), first eccentric disc (44) is fixed on described first output shaft (412), be fixed with one first eccentric shaft (441) at this first eccentric disc (44) towards a side of first eccentric wheel (45), first eccentric wheel (45) is arranged on first eccentric shaft (441), and this first eccentric shaft (441) matches with described eccentric wheel mating groove (234); The described second travelling carriage elevating mechanism (5) comprises second worm gear reducer (51), the second transition connecting axle (52), second reverse box (53), second eccentric disc (54) and second eccentric wheel (55), second worm gear reducer (51) is fixed on the right-hand member of described second bedplate (1b), be fixed with one first at the end of the second worm gear reducer power input shaft (511) of this second worm gear reducer (51) and connect dish (5111), one end of the second transition connecting axle (52) is connected with the second reverse box output shaft (531) of second reverse box (53), the other end of the second transition connecting axle (52) and described second connects dish (5111) and is connected, second reverse box (53) is fixed on the left end of second bedplate (1b), the second reverse box power input shaft (532) of this second reverse box (53) is in transmission connection with the described transition transmission mechanism (6) that is arranged on the described support plate (3), second eccentric disc (54) is fixed on the second worm gear reducer power output shaft (512) of second worm gear reducer (51), be fixed with one second eccentric shaft (541) at this second eccentric disc (54) towards a side of second eccentric wheel (55), second eccentric wheel (55) is fixed on second eccentric shaft (541), and this second eccentric wheel (55) matches with the described second travelling carriage elevating mechanism (5).

4. unit multi-station manipulator according to claim 3, it is characterized in that described transition transmission mechanism (6) comprises one first connecting axle (61) and one second connecting axle (62), first connecting axle (61) is bearing on the first connecting axle supporting base (611) rotationally, one end of this first connecting axle (61) is connected with the described first reverse box output shaft (432), and the other end of first connecting axle (61) is connected with an end of second connecting axle (62), the other end of second connecting axle (62) is connected with the described second reverse box power input shaft (532), and second connecting axle (62) is bearing on the second connecting axle supporting base (621) rotationally, first, the second connecting axle supporting base (611,621) all be fixed on the described support plate (3).

5. unit multi-station manipulator according to claim 2, it is characterized in that described synchronous drive mechanism (7) comprises motor (71), worm gear case (72), first transmission case (73), the first transition wheel carrier (74), second driving-belt (75a), drive transition connecting axle (76), second transmission case (77), the second transition wheel carrier (78) and the 3rd driving-belt (75b), the first transmission roller box (73) is fixed on an end of described support plate (3), the second transmission roller box (77) is fixed on the other end of support plate (3), in the case chamber of the first transmission roller box (73), be provided with one first expansion tightening wheel (731) rotationally, and in the case chamber of the second transmission roller box (77), be provided with one second expansion tightening wheel (771) rotationally, motor (71) cooperates with worm gear case (72) transmission, and be fixed on an end of support plate (3) together with motor (71) by worm gear case (72), the worm gear case output shaft (721) of this worm gear case (72) is on the output axle bed (7211) that is bearing in an end that is fixed in support plate (3) behind the case chamber of passing the described first transmission roller box (73) rotationally, and on the axis body of the described worm gear case output shaft (721) in the case chamber that is positioned at first transmission case (73), be fixed with one the 3rd drive (7212), the first transition wheel carrier (74) is fixed on a side of the described left end of the described head piece (22) that is arranged at the described workpiece extraction transfer device (2) on first bedplate (1a), on this first transition wheel carrier (74), be supported with an end of one first power axle (741) rotationally, and the other end of this first power axle (741) is bearing on the head piece (22) rotationally, and on first power transmission shaft (741), be fixed with one first transition drive (7411), described first drive (24a) is fixed on first power axle (741), second driving-belt (75a) is nested with simultaneously in the 3rd drive (7212), on first expansion tightening wheel (731) and the first transition drive (7411), one end of drive transition connecting axle (76) and worm gear case (72) are in transmission connection, the middle part is bearing on the described support plate (3) rotationally, and the other end is being bearing in behind the case chamber of passing the second transmission roller box (77) on the axle bed of the other end that is fixed in support plate (3) rotationally, and on the axis body of the described drive transition connecting axle (76) in the case chamber that is positioned at the second transmission roller box (77), be fixed with one the 4th drive (761), the second transition wheel carrier (78) is fixed on the side of left end that the workpiece that is arranged on described second bedplate (1b) extracts the described head piece (22) of transfer device (2), on this second transition wheel carrier (78), be supported with an end of one second power axle (781) rotationally, and the other end of this second power axle (781) is bearing on the head piece (22) rotationally, and on second power axle (781), be fixed with one second transition drive (7811), described first drive (24a) that is positioned at the described workpiece extraction transfer device (2) on second bedplate (1b) is fixed on second power axle (781), and the 3rd driving-belt (75b) is nested with simultaneously in the 4th drive (761), on second expansion tightening wheel (771) and the second transition drive (7811).

6. unit multi-station manipulator according to claim 2, it is characterized in that being fixed with one first longitudinal rail (211) towards a side of described second column (21b) at described first column (21a), and towards a side of first column (21a) and in fixed-site one second longitudinal rail (212) is arranged corresponding to first longitudinal rail (211) at second column (21b), the described left end of described hoisting cross beam (23) is fixed with one first hoisting cross beam slide block (232), this first hoisting cross beam slide block (232) is slidingly matched with first longitudinal rail (211), and the described right-hand member of hoisting cross beam (23) is fixed with one second hoisting cross beam slide block (233), this second hoisting cross beam slide block (233) is slidingly matched with second longitudinal rail (212), and on first column (21a) or second column (21b), be fixed with one first signal picker (213), when first signal picker (213) is fixed on described first column (21a), the described first hoisting cross beam slide block (232) matches with this first signal picker (213), when first signal picker (213) was fixed on described second column (21b), the described second hoisting cross beam slide block (233) matched with this first signal picker (213).

7. unit multi-station manipulator according to claim 2, it is characterized in that described travelling carriage (28) is by first, second side plate (281,282), top board (283), workpiece extracts arm restraining board (284) and cross sliding clock connecting plate (285) constitutes, first, second side plate (281,282) vertically parallel each other, and first, second side plate (281,282) bottom between is connected by end connecting plate (286), first, second side plate (281,282) zone between constitutes the connecting plate chamber (287) of stepping down, the top of one end of top board (283) and first side plate (281) is fixed, the top of the other end and second side plate (282) is fixed, and fixedly connected with described driving-belt clamping plate (251) in the middle part of top board (283), an end and first side plate (281) that workpiece extracts arm restraining board (284) are slidingly matched, the other end and second side plate (282) are slidingly matched, described workpiece extracts arm (29) and is fixed on the workpiece extraction arm restraining board (284) with the horizontal boom state, cross sliding clock connecting plate (285) is stepped down corresponding to described connecting plate in the chamber (287), one end of this cross sliding clock connecting plate (285) and workpiece extract arm restraining board (284) and fix back to the side that workpiece extracts arm (29), and being stretched over connecting plate, the other end of cross sliding clock connecting plate (285) steps down outside the chamber (287), and fixedly connected with described cross sliding clock (2311), wherein: described left end and right-hand member at described head piece (22) respectively are fixed with a secondary signal collector (221), and on described top board (283), being fixed with a signal picker trigger unit (2831), this signal picker trigger unit (2831) matches with secondary signal collector (221).

8. unit multi-station manipulator according to claim 7, it is characterized in that being fixed with one first fixed head guide rail (2811) towards the short transverse that described workpiece extracts a side of arm restraining board (284) at described first side plate (281), be fixed with one second fixed head guide rail (2821) towards the short transverse that workpiece extracts a side of arm restraining board (284) equally at described second side plate (282), an end that extracts arm restraining board (284) at workpiece is fixed with one first slider guide (2841), and the other end is fixed with one second slider guide (2842), first slider guide (2841) is slidingly matched with the first fixed head guide rail (2811), and second slider guide (2842) is slidingly matched with the second fixed head guide rail (2821).

9. unit multi-station manipulator according to claim 5 is characterized in that the motor of described motor (71) for having the rotating function.

10. unit multi-station manipulator according to claim 2, it is characterized in that quantity that described workpiece extracts arm (29) is parallel a pair of, offer the fixing groove (292) of adjusting of one group of negative pressure sucker at each workpiece extraction arm (29), described negative pressure sucker (291) is fixing at position and workpiece extraction arm (29) corresponding to negative pressure sucker fixing adjustment groove (292).

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