CN213918318U

CN213918318U - Manipulator device

Info

Publication number: CN213918318U
Application number: CN202022088406.3U
Authority: CN
Inventors: 应志坚; 陈丽琴; 邹锐
Original assignee: Tonglu Zhibo Automation Equipment Co ltd
Current assignee: Tonglu Zhibo Automation Equipment Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-08-10
Anticipated expiration: 2030-09-22

Abstract

The utility model discloses a manipulator device. It includes the base, be fixed with horizontal cross axle on the base, sliding connection has first sliding seat on the horizontal cross axle, the side of horizontal cross axle is fixed with ball screw subassembly one, sliding seat one is installed on ball screw subassembly one and through ball screw subassembly one and horizontal cross axle sliding connection, sliding seat one is gone up and is fixed with horizontal cross axle vertically horizontal vertical axis, sliding connection has second sliding seat on the horizontal vertical axis, the side of horizontal vertical axis is fixed with second ball screw subassembly, second sliding seat is installed on second ball screw subassembly and is passed through second ball screw subassembly and horizontal vertical axis sliding connection, sliding connection has vertical lifter on second sliding seat. The utility model has the advantages that: the service life is long; the running precision is high.

Description

Manipulator device

Technical Field

The utility model belongs to the technical field of the relevant technique of manipulator and specifically relates to indicate a manipulator device.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can repeatedly do the same action, and the manipulator can never feel tired under the normal condition of the machine. The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.

The existing manipulator mechanism mostly adopts synchronous belt to carry out transmission of moving parts, and the normal operation of equipment can not be influenced by the stretching and aging of a belt in the use of the synchronous belt. Although the synchronous belt of the german horse brand is used in some machine types, the machine table still cannot avoid slight change along with the change of the using cycle time and the temperature under the normal condition, so that the machine table often cannot work normally in high-precision application.

SUMMERY OF THE UTILITY MODEL

The utility model relates to an overcome among the prior art drive belt's tensile and ageing can influence the not enough of equipment normal operating and precision, provide a long service life and the high manipulator device of operation precision.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a manipulator device, the on-line screen storage device comprises a base, be fixed with horizontal cross axle on the base, sliding connection has first sliding seat on the horizontal cross axle, the side of horizontal cross axle is fixed with ball screw subassembly one, sliding seat one is installed on ball screw subassembly one and through ball screw subassembly one and horizontal cross axle sliding connection, sliding seat one is fixed with horizontal cross axle vertically horizontal vertical axis, sliding connection has second sliding seat on the horizontal vertical axis, the side of horizontal vertical axis is fixed with second ball screw subassembly, second sliding seat is installed on second ball screw subassembly and is just through second ball screw subassembly and horizontal vertical axis sliding connection, sliding connection has vertical lifter on second sliding seat.

A horizontal cross shaft is fixed on the base, a first sliding seat is connected to the horizontal cross shaft in a sliding manner, a first ball screw assembly is fixed on the side surface of the horizontal cross shaft, the first sliding seat is installed on the first ball screw assembly and is connected with the horizontal cross shaft in a sliding manner through the first ball screw assembly, a horizontal vertical shaft vertical to the horizontal cross shaft is fixed on the first sliding seat, a second sliding seat is connected to the horizontal vertical shaft in a sliding manner, a second ball screw assembly is fixed on the side surface of the horizontal vertical shaft, the second sliding seat is installed on the second ball screw assembly and is connected with the horizontal vertical shaft in a sliding manner through the second ball screw assembly, a vertical lifting rod is connected to the second sliding seat in a sliding manner, the ball screw is used for replacing the original synchronous belt to transmit the sliding seat I and the sliding seat II, so that the influence on the normal operation and the accuracy of the equipment caused by the stretching and aging of the belt is well avoided, and the service life and the operation accuracy of the equipment are greatly improved; due to the fact that the whole weight of the moving part is reduced after the ball screw is adopted, the whole service life of the machine table track is greatly prolonged.

Preferably, the first slide rails are fixed on two sides of the upper end surface of the horizontal cross shaft, the first slide blocks matched with the first slide rails are fixed on two sides of the lower end surface of the slide seat respectively, the first slide seat is installed on the horizontal cross shaft through the matching of the first slide blocks and the first slide rails and is in sliding connection with the horizontal cross shaft, the first stop blocks are fixed on the upper end surface of the horizontal cross shaft and are arranged at two ends of the first slide rails, the movement of the X shaft of the manipulator is realized through the back-and-forth sliding of the first slide seat on the horizontal cross shaft, the first slide rails and the first slide blocks are matched to guide the sliding of the first slide seat, the first stop blocks are used for limiting the first slide seat during sliding, and the first slide seat is prevented from.

Preferably, the ball screw assembly comprises a shell fixed on the side surface of the horizontal cross shaft, a first screw rod parallel to the horizontal cross shaft is installed in the shell, the first screw rod is rotatably connected with the shell, a first rotating motor is fixed on one end of the shell, one end of the first screw rod penetrates through the end surface of one end of the shell and is fixed on the first rotating motor, the other end of the first screw rod penetrates through the end surface of the other end of the shell and is in threaded connection with a first limit nut, the first rotating motor is used for driving the first screw rod to rotate, and the first limit nut has a limit function of limiting the first screw rod installed on the shell.

Preferably, a first moving seat is installed on the first screw rod, a first internal thread hole matched with the first screw rod is formed in the bottom of the first moving seat, the first moving seat is installed on the first screw rod through the matching of the first internal thread hole and the first screw rod and is in threaded connection with the first screw rod, a plurality of first balls are installed between the first internal thread hole and the first screw rod, an open slot matched with the first screw rod is formed in the upper surface of the shell, the top of the first moving seat penetrates through the open slot and is fixed on the first sliding seat, the first moving seat is in sliding connection with the open slot, the purpose that the first sliding seat slides linearly on the horizontal transverse shaft is achieved by converting the rotary motion of the first screw rod into the linear motion of the first moving seat, and the ball I is additionally arranged to roll between the internal threaded hole I and the screw rod I, so that the friction between the internal threaded hole I and the screw rod I is greatly reduced, and the movement efficiency and the movement precision of the sliding seat I are greatly improved.

Preferably, the horizontal vertical shafts are respectively arranged at two sides of one side surface of the sliding seat I, the two horizontal vertical shafts are positioned on the same horizontal plane, a second sliding rail is fixed on the upper end surface of each horizontal vertical shaft, a second sliding block matched with the two sliding rails is respectively fixed on two sides of the lower end surface of the sliding seat II, the sliding seat II is arranged above the two horizontal vertical shafts through the matching of the second sliding block and the second sliding rail and is in sliding connection with the horizontal vertical shafts, one end of each horizontal vertical shaft is fixed on the first sliding seat, a second stop block is fixed on the other end of the horizontal vertical shaft, and the second stop block is arranged at the end part of the second sliding rail, the second sliding seat slides back and forth on the horizontal vertical shaft to realize the movement of the manipulator on the Y axis, the second sliding rail and the second sliding block are matched to slide the second sliding seat to achieve a guiding effect, and the second check block achieves a limiting effect of the second sliding seat when the second sliding seat slides to prevent the second sliding seat from sliding out of the second sliding rail.

Preferably, the second ball screw assembly comprises a second screw rod arranged on the first sliding seat, the second screw rod is located between the two horizontal vertical shafts and is parallel to the horizontal vertical shafts, a second rotating motor is arranged inside the first sliding seat, one end of the second screw rod penetrates through the surface of the first sliding seat and is fixed on the second rotating motor, the second screw rod is rotatably connected with the first sliding seat, a connecting plate is fixed between the other ends of the two horizontal vertical shafts, the other end of the second screw rod penetrates through the connecting plate and is in threaded connection with a second limit nut, the connecting plate is rotatably connected with the second screw rod, the second rotating motor is used for driving the second screw rod to rotate, and the second limit nut plays a role in limiting the fact that the second screw rod is arranged on the connecting plate.

Preferably, a second moving seat matched with the second screw rod is fixed on the lower end face of the second sliding seat, a second internal thread hole matched with the second screw rod is formed in the second moving seat, the second moving seat is installed on the second screw rod through the matching of the second internal thread hole and the second screw rod and is in threaded connection with the second screw rod, a plurality of second balls are installed between the second internal thread hole and the second screw rod, the rotary motion of the second screw rod is converted into the linear motion of the second moving seat, the purpose that the second sliding seat performs linear sliding on a horizontal vertical shaft is achieved, the second balls roll between the second internal thread hole and the second screw rod, the friction between the second internal thread hole and the second screw rod is greatly reduced, and the motion efficiency and the motion precision of the second sliding seat are greatly improved.

Preferably, a sliding groove matched with the vertical lifting rod is formed in the side face of the sliding seat II, the vertical lifting rod is installed in the sliding groove and is in sliding connection with the sliding groove, a rack is fixed on the side face of the vertical lifting rod and is arranged in parallel with the vertical lifting rod, a rotating motor III is installed on the sliding seat II, a gear is fixed on the rotating motor III, the gear is meshed with the rack, and the vertical lifting rod slides up and down in the sliding groove of the sliding seat II to realize the movement of the manipulator on the Z axis; compared with the belt transmission of a common manipulator, the gear transmission is more stable, the working efficiency and accuracy are higher, and the service life is longer.

Preferably, a first drag chain is installed on the upper end face of the horizontal cross shaft and is arranged between the two first slide rails, one end of the first drag chain is fixed on the horizontal cross shaft, the other end of the first drag chain is fixed on the sliding seat I, a drag chain groove is fixed on the side face of the horizontal vertical shaft, a second drag chain is installed in the drag chain groove, one end of the second drag chain is fixed on the drag chain groove, the other end of the second drag chain is fixed on the sliding seat II, a third drag chain is installed on the sliding seat II, one end of the third drag chain is fixed on the upper end face of the sliding seat II, the other end of the third drag chain is fixed on the top of the vertical lifting rod, a gripper is installed at the bottom of the vertical lifting rod, and the first drag chain, the second drag chain and the third drag chain which are additionally arranged respectively play roles in traction and protection on the sliding of the sliding seat I, the sliding seat II and the vertical lifting rod.

Preferably, an electric cabinet is fixed on the horizontal cross shaft, the first rotating motor, the second rotating motor and the third rotating motor are electrically connected with the electric cabinet, and the electric cabinet is used for supplying power to the three rotating motors and controlling the starting, stopping and rotating speed of the rotating motors.

The utility model has the advantages that: the influence on the normal operation and the accuracy of the equipment caused by the stretching and the aging of the belt is well avoided, so that the service life and the operation accuracy of the equipment are greatly improved; the whole weight of the moving part is reduced, so that the whole service life of the machine table track is greatly prolonged; the traction and protection effects are realized on the movement of the moving part.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is an enlarged view at A in FIG. 2;

FIG. 4 is a top view of FIG. 1;

FIG. 5 is a right side view of FIG. 1;

FIG. 6 is a rear view of FIG. 1;

fig. 7 is an enlarged view at B in fig. 6.

In the figure: 1. the vertical lifting rod, 2, a sliding seat II, 3, a sliding seat I, 4, a ball screw assembly I, 5, a horizontal cross shaft, 6, a base, 7, a horizontal vertical shaft, 8, a ball screw assembly II, 9, a drag chain III, 10, a rack, 11, an electric cabinet, 12, a rotating motor III, 13, a gear, 14, a hand grip, 15, a sliding block I, 16, a sliding rail I, 17, a stop block I, 18, a moving seat II, 19, an internal threaded hole II, 20, a screw rod II, 21, a shell, 22, a drag chain I, 23, an open slot, 24, a sliding slot, 25, a connecting plate, 26, a limit nut II, 27, a drag chain slot, 28, a drag chain II, 29, a sliding block II, 30, a sliding rail II, 31, a stop block II, 32, a limit nut I, 33, a rotating motor I, 34, a moving seat I, 35. the first internal thread hole 36 is a first screw rod.

Detailed Description

The invention is further described with reference to the accompanying drawings and the detailed description.

In the embodiment shown in fig. 1, a manipulator device includes a base 6, a horizontal cross shaft 5 is fixed on the base 6, a first sliding seat 3 is slidably connected to the horizontal cross shaft 5, a first ball screw assembly 4 is fixed on a side surface of the horizontal cross shaft 5, the first sliding seat 3 is installed on the first ball screw assembly 4 and is slidably connected to the horizontal cross shaft 5 through the first ball screw assembly 4, a horizontal vertical shaft 7 perpendicular to the horizontal cross shaft 5 is fixed on the first sliding seat 3, a second sliding seat 2 is slidably connected to the horizontal vertical shaft 7, a second ball screw assembly 8 is fixed on a side surface of the horizontal vertical shaft 7, the second sliding seat 2 is installed on the second ball screw assembly 8 and is slidably connected to the horizontal vertical shaft 7 through the second ball screw assembly 8, and a vertical lifting rod 1 is slidably connected to the second sliding seat 2.

As shown in fig. 2, two sides of the upper end surface of the horizontal cross shaft 5 are both fixed with a first slide rail 16, two sides of the lower end surface of the first slide seat 3 are respectively fixed with a first slide block 15 matched with the two first slide rails 16, the first slide seat 3 is installed on the horizontal cross shaft 5 through the matching of the first slide block 15 and the first slide rail 16 and is in sliding connection with the horizontal cross shaft 5, the upper end surface of the horizontal cross shaft 5 is fixed with a first stop block 17, and the first stop block 17 is arranged at two ends of the first slide rail 16.

As shown in fig. 4, the first ball screw assembly 4 includes a housing 21 fixed on the side of the horizontal transverse shaft 5, as shown in fig. 6 and 7, a first screw rod 36 parallel to the horizontal transverse shaft 5 is installed in the housing 21, the first screw rod 36 is rotatably connected with the housing 21, a first rotating motor 33 is fixed on one end of the housing 21, one end of the first screw rod 36 penetrates through the end face of one end of the housing 21 and is fixed on the first rotating motor 33, and the other end of the first screw rod 36 penetrates through the end face of the other end of the housing 21 and is in threaded connection with a first limit nut 32.

As shown in fig. 7, a first moving seat 34 is installed on a first screw rod 36, a first internal threaded hole 35 matched with the first screw rod 36 is formed in the bottom of the first moving seat 34, the first moving seat 34 is installed on the first screw rod 36 through the matching of the first internal threaded hole 35 and the first screw rod 36 and is in threaded connection with the first screw rod 36, a plurality of first balls are installed between the first internal threaded hole 35 and the first screw rod 36, as shown in fig. 4 and 7, an open slot 23 matched with the first screw rod 36 is formed in the upper surface of the outer shell 21, the top of the first moving seat 34 penetrates through the open slot 23 and is fixed on a first sliding seat 3, and the first moving seat 34 is in sliding connection with the open slot 23.

As shown in fig. 4, the horizontal vertical shafts 7 are respectively disposed at two sides of one side surface of the first sliding seat 3, the two horizontal vertical shafts 7 are located on the same horizontal plane, as shown in fig. 5, the upper end surface of the horizontal vertical shaft 7 is fixed with the second sliding rail 30, two sides of the lower end surface of the second sliding seat 2 are respectively fixed with the second sliding block 29 matched with the second sliding rail 30, the second sliding seat 2 is installed above the two horizontal vertical shafts 7 through the cooperation of the second sliding block 29 and the second sliding rail 30 and is in sliding connection with the horizontal vertical shaft 7, one end of the horizontal vertical shaft 7 is fixed on the first sliding seat 3, the other end of the horizontal vertical shaft 7 is fixed with the second stopper 31, and the second stopper 31 is disposed at the end of the second sliding rail 30.

As shown in fig. 4, the second ball screw assembly 8 includes a second screw rod 20 installed on the first sliding seat 3, the second screw rod 20 is located between the two horizontal vertical shafts 7 and is parallel to the horizontal vertical shafts 7, a second rotating motor is installed inside the first sliding seat 3, one end of the second screw rod 20 penetrates through the surface of the first sliding seat 3 and is fixed on the second rotating motor, the second screw rod 20 is rotatably connected with the first sliding seat 3, a connecting plate 25 is fixed between the other ends of the two horizontal vertical shafts 7, the other end of the second screw rod 20 penetrates through the connecting plate 25 and is in threaded connection with a second limit nut 26, and the connecting plate 25 is rotatably connected with the second screw rod 20.

As shown in fig. 2 and 3, a second movable seat 18 matched with a second screw rod 20 is fixed on the lower end surface of the second sliding seat 2, a second internal threaded hole 19 matched with the second screw rod 20 is formed in the second movable seat 18, the second movable seat 18 is installed on the second screw rod 20 through the matching of the second internal threaded hole 19 and the second screw rod 20 and is in threaded connection with the second screw rod 20, and a plurality of second balls are installed between the second internal threaded hole 19 and the second screw rod 20.

As shown in fig. 4, a sliding groove 24 matched with the vertical lifting rod 1 is arranged on the side surface of the sliding seat 2, the vertical lifting rod 1 is installed in the sliding groove 24 and is in sliding connection with the sliding groove 24, as shown in fig. 2, a rack 10 is fixed on the side surface of the vertical lifting rod 1, the rack 10 and the vertical lifting rod 1 are arranged in parallel, a rotating motor III 12 is installed on the sliding seat 2, a gear 13 is fixed on the rotating motor III 12, and the gear 13 is meshed with the rack 10.

As shown in fig. 4, a first drag chain 22 is installed on the upper end surface of the horizontal cross shaft 5, the first drag chain 22 is arranged between the two first slide rails 16, one end of the first drag chain 22 is fixed on the horizontal cross shaft 5, the other end of the first drag chain 22 is fixed on the sliding seat one 3, a drag chain groove 27 is fixed on the side surface of the horizontal vertical shaft 7, a second drag chain 28 is installed in the drag chain groove 27, one end of the second drag chain 28 is fixed on the drag chain groove 27, the other end of the second drag chain 28 is fixed on the sliding seat two 2, as shown in fig. 2, a third drag chain 9 is installed on the sliding seat two 2, one end of the third drag chain 9 is fixed on the upper end surface of the sliding seat two 2, the other end of the third drag chain 9 is fixed on the top of the vertical lifting rod 1, and a hand grip 14 is installed at the bottom of the vertical lifting rod 1.

As shown in fig. 2, an electric cabinet 11 is fixed on the horizontal shaft 5, and the first rotating motor 33, the second rotating motor 12 and the third rotating motor 12 are electrically connected with the electric cabinet 11.

The working principle of the machine table is as follows:

x-axis transmission: the electric cabinet 11 supplies power to the first rotating motor 33, so that the first rotating motor 33 drives the first screw rod 36 to rotate, the first moving seat 34 performs linear motion under the matching of the first internal threaded hole 35 and the first screw rod 36 (at the moment, the first ball performs rolling motion at the gap between the first internal threaded hole 35 and the first screw rod 36), and then the first sliding seat 3 is driven to slide back and forth on the horizontal cross shaft 5 (the first sliding rail 16 is matched with the first sliding block 15).

Y-axis transmission: the electric cabinet 11 supplies power to the second rotating motor, so that the second rotating motor drives the second screw rod 20 to rotate, the second moving seat 18 performs linear motion under the matching of the second internal threaded hole 19 and the second screw rod 20 (at the moment, the second ball performs rolling motion at the gap between the second internal threaded hole 19 and the second screw rod 20), and then the second sliding seat 2 is driven to slide back and forth on the horizontal vertical shaft 7 (the second sliding rail 30 and the second sliding block 29 are matched).

Z-axis transmission: the electric cabinet 11 supplies power to the rotating motor III 12, so that the rotating motor III 12 drives the gear 13 to rotate, the vertical lifting rod 1 slides up and down in the sliding groove 24 under the matching of the gear 13 and the rack 10, and the gripper 14 is driven to grip and release workpieces.

Claims

1. The utility model provides a manipulator device, characterized by, includes base (6), be fixed with horizontal cross axle (5) on base (6), sliding connection has sliding seat (3) on horizontal cross axle (5), the side of horizontal cross axle (5) is fixed with ball screw subassembly (4), sliding seat (3) are installed on ball screw subassembly (4) and through ball screw subassembly (4) and horizontal cross axle (5) sliding connection, be fixed with horizontal cross axle (5) looks vertically horizontal vertical axis (7) on sliding seat (3), sliding connection has sliding seat two (2) on horizontal vertical axis (7), the side of horizontal vertical axis (7) is fixed with ball screw subassembly two (8), sliding seat two (2) are installed on ball screw subassembly two (8) and through ball screw subassembly two (8) and horizontal vertical axis (7) sliding connection, and the second sliding seat (2) is connected with a vertical lifting rod (1) in a sliding manner.

2. A manipulator device according to claim 1, wherein first slide rails (16) are fixed on both sides of the upper end surface of the horizontal cross shaft (5), first slide blocks (15) matched with the first slide rails (16) are respectively fixed on both sides of the lower end surface of the first slide block (3), the first slide block (3) is mounted on the horizontal cross shaft (5) through the cooperation of the first slide blocks (15) and the first slide rails (16) and is in sliding connection with the horizontal cross shaft (5), first stoppers (17) are fixed on the upper end surface of the horizontal cross shaft (5), and the first stoppers (17) are placed at both ends of the first slide rails (16).

3. A manipulator device according to claim 1, wherein the first ball screw assembly (4) comprises a housing (21) fixed on the side of the horizontal transverse shaft (5), a first screw rod (36) parallel to the horizontal transverse shaft (5) is installed in the housing (21), the first screw rod (36) is rotatably connected with the housing (21), a first rotating motor (33) is fixed on one end of the housing (21), one end of the first screw rod (36) penetrates through the end face of one end of the housing (21) and is fixed on the first rotating motor (33), and the other end of the first screw rod (36) penetrates through the end face of the other end of the housing (21) and is in threaded connection with a first limit nut (32).

4. A manipulator device according to claim 3, wherein the first screw rod (36) is provided with a first movable seat (34), the bottom of the first movable seat (34) is provided with a first internal thread hole (35) matched with the first screw rod (36), the first movable seat (34) is installed on the first screw rod (36) through the matching of the first internal thread hole (35) and the first screw rod (36) and is in threaded connection with the first screw rod (36), a plurality of first balls are installed between the first internal thread hole (35) and the first screw rod (36), the upper surface of the shell (21) is provided with an open slot (23) matched with the first screw rod (36), the top of the first movable seat (34) passes through the open slot (23) and is fixed on the first sliding seat (3), and the first movable seat (34) is in sliding connection with the open slot (23).

5. Manipulator according to claim 1, wherein the horizontal vertical shafts (7) are respectively arranged on two sides of one side surface of the first sliding seat (3), the two horizontal vertical shafts (7) are positioned on the same horizontal plane, a second sliding rail (30) is fixed on the upper end surface of the horizontal vertical shaft (7), a second sliding block (29) matched with the second sliding rail (30) is respectively fixed on two sides of the lower end surface of the second sliding seat (2), the second sliding seat (2) is arranged above the two horizontal vertical shafts (7) through the matching of the second sliding block (29) and the second sliding rail (30) and is in sliding connection with the horizontal vertical shafts (7), one end of the horizontal vertical shaft (7) is fixed on the first sliding seat (3), a second stop block (31) is fixed at the other end of the horizontal vertical shaft (7), and the second stop block (31) is arranged at the end part of the second sliding rail (30).

6. A manipulator device according to claim 3, wherein the second ball screw assembly (8) comprises a second screw rod (20) mounted on the first sliding seat (3), the second screw rod (20) is located between the two horizontal vertical shafts (7) and is parallel to the horizontal vertical shafts (7), a second rotating motor is mounted inside the first sliding seat (3), one end of the second screw rod (20) penetrates through the surface of the first sliding seat (3) and is fixed on the second rotating motor, the second screw rod (20) is rotatably connected with the first sliding seat (3), a connecting plate (25) is fixed between the other ends of the two horizontal vertical shafts (7), the other end of the second screw rod (20) penetrates through the connecting plate (25) and is in threaded connection with a second limit nut (26), and the connecting plate (25) is rotatably connected with the second screw rod (20).

7. The manipulator device according to claim 6, wherein a second moving seat (18) matched with the second screw (20) is fixed on the lower end surface of the second sliding seat (2), a second internal threaded hole (19) matched with the second screw (20) is formed in the second moving seat (18), the second moving seat (18) is mounted on the second screw (20) through the matching of the second internal threaded hole (19) and the second screw (20) and is in threaded connection with the second screw (20), and a plurality of second balls are mounted between the second internal threaded hole (19) and the second screw (20).

8. A manipulator device according to claim 6, wherein a sliding groove (24) matched with the vertical lifting rod (1) is formed in the side surface of the second sliding seat (2), the vertical lifting rod (1) is installed in the sliding groove (24) and is in sliding connection with the sliding groove (24), a rack (10) is fixed on the side surface of the vertical lifting rod (1), the rack (10) and the vertical lifting rod (1) are arranged in parallel, a third rotating motor (12) is installed on the second sliding seat (2), a gear (13) is fixed on the third rotating motor (12), and the gear (13) is meshed with the rack (10).

9. A manipulator device according to claim 2 or 5, wherein a first drag chain (22) is installed on the upper end surface of the horizontal cross shaft (5), the first drag chain (22) is arranged between the first slide rails (16), one end of the first drag chain (22) is fixed on the horizontal cross shaft (5), the other end of the first drag chain (22) is fixed on the first sliding seat (3), a drag chain groove (27) is fixed on the side surface of the horizontal vertical shaft (7), a second drag chain (28) is installed in the drag chain groove (27), one end of the second drag chain (28) is fixed on the drag chain groove (27), the other end of the second drag chain (28) is fixed on the second sliding seat (2), a third drag chain (9) is installed on the second sliding seat (2), one end of the third drag chain (9) is fixed on the upper end surface of the second sliding seat (2), and the other end of the third drag chain (9) is fixed on the top of the vertical lifting rod (1), the bottom of the vertical lifting rod (1) is provided with a gripper (14).

10. A manipulator device according to claim 8, wherein an electric cabinet (11) is fixed on the horizontal transverse shaft (5), and the first rotating motor (33), the second rotating motor and the third rotating motor (12) are all electrically connected with the electric cabinet (11).