CN221341292U - Automatic packaging manipulator for secondary element zooming mechanism and multifunctional spandex spinning cake - Google Patents

Abstract

The utility model discloses a secondary element scaling mechanism and a multifunctional automatic spandex spinning cake packaging manipulator, comprising a frame, a plurality of X-direction tracks arranged on the frame, and a plurality of sliding seats movably arranged on the X-direction tracks; one X-direction track in the plurality of X-direction tracks is a fixed X-direction track, other X-direction tracks are movable X-direction tracks which are respectively arranged at two sides of the fixed X-direction track, and the movable X-direction tracks are movably arranged on the Y-direction linear guide rail through the Y-direction linear guide rail; all the sliding seats form rectangular array arrangement, all the sliding seats positioned in the same row of the rectangular array are connected to the first scissor type telescopic mechanism, and all the sliding seats of at least one row are connected to the second scissor type telescopic mechanism; the frame is also respectively provided with an X-direction servo driving mechanism for driving the first scissor type telescopic mechanism and a Y-direction servo driving mechanism for driving the second scissor type telescopic mechanism. The utility model realizes the grabbing of rectangular array spinning cakes with the row number more than or equal to 3.

Description

Automatic packaging manipulator for secondary element zooming mechanism and multifunctional spandex spinning cake

Technical Field

The utility model relates to the technical field of automatic spandex packaging machinery, in particular to a secondary element scaling mechanism and a multifunctional automatic spandex spinning cake packaging manipulator.

Background

In recent years, in order to improve production efficiency in spandex industry, equipment such as automatic packaging, automatic doffing and the like is introduced in each factory, so that an automatic production workshop is realized. The spandex product is a yarn cake, which is produced by finished spandex yarn and then is wound on a hollow paper tube, 20-24 whole strings of yarn cakes can be produced at one time at one production station, the whole strings of yarn cakes are transported to an automatic packaging and yarn unloading position by a yarn transporting vehicle after being automatically dropped into a cylinder or manually dropped into a cylinder, the spandex yarn cakes are unloaded from the yarn transporting vehicle to an automatic packaging line by a yarn unloading manipulator, the automatic packaging line rejects unqualified products after detection, and the qualified products are automatically packaged.

The spandex spinning cake boxing specification is generally multi-layer multi-spinning cake, one box is provided with multi-layer spinning cakes, a spinning cake positioning baffle is needed to be placed between each layer of spinning cakes, and the space between spinning cakes on the circulation line of an automatic packaging roller chain plate is different from the boxing space, so that a boxing manipulator needs to grab spinning cakes on the roller chain plate and then can be scaled, the grabbing and boxing efficiency is improved, and a mechanism is needed to realize the function of placing the positioning baffle.

The prior art discloses an utility model patent (CN 212606093U) of a multifunctional robot clamp for packing spinning cakes, which can realize the function of zooming and grabbing spinning cakes. However, the method has the defect that only spinning cakes arranged in a 3 XN rectangular array (3 rows and a plurality of columns) can be grabbed, and scaling grabbing cannot be realized on the spinning cakes in the rectangular array with the line number more than or equal to 3, so that the spinning cakes are greatly limited.

Disclosure of utility model

In order to solve the problems, the utility model provides a secondary element scaling mechanism and a multifunctional automatic packaging manipulator for spandex spinning cakes, which aim to overcome the defects of the prior art and realize the grabbing of rectangular array spinning cakes with the line number more than or equal to 3, and the specific technical scheme is as follows:

The secondary element scaling mechanism comprises a frame, a plurality of X-direction tracks arranged on the frame at intervals along the X direction of the frame, and a plurality of sliding seats arranged on the X-direction tracks in a moving manner; one X-direction track of the X-direction tracks is a fixed X-direction track fixedly connected with the frame, the other X-direction tracks of the X-direction tracks are movable X-direction tracks which are respectively arranged at two sides of the fixed X-direction track, and the movable X-direction tracks are movably arranged on the Y-direction linear guide rail through Y-direction linear guide rails which are arranged along the Y-direction of the frame; all the sliding seats in the same row are connected to the first scissor type telescopic mechanism so as to realize synchronous scaling of the sliding seats in the X direction, and at least one column of all the sliding seats are connected to the second scissor type telescopic mechanism so as to realize synchronous scaling of the sliding seats in the Y direction; the frame is also respectively provided with an X-direction servo driving mechanism for driving the first scissor type telescopic mechanism to realize synchronous scaling of the position of the sliding seat in the X direction and a Y-direction servo driving mechanism for driving the second scissor type telescopic mechanism to realize synchronous scaling of the position of the sliding seat in the Y direction.

Preferably, an X-direction linear guide rail is arranged on the X-direction track, and the slide seat is movably arranged on the X-direction linear guide rail.

Preferably, the first scissor type telescopic mechanism comprises an X-shaped scissor formed by a plurality of pairs of connecting rods which are connected in a crossed and rotating way through first central hinge shafts, two adjacent pairs of X-shaped scissor are connected in a rotating way through rod end hinge shafts at the end parts of the connecting rods, and each sliding seat arranged in a rectangular array is correspondingly connected in a rotating way with the first central hinge shaft on the first scissor type telescopic mechanism.

Preferably, in the first scissor fork telescopic mechanism, in an X-shaped scissor fork assembly formed by a plurality of pairs of sequentially connected X-shaped scissor forks, each X-shaped scissor fork is connected with one sliding seat at intervals, the X-shaped scissor fork between the two sliding seats is an empty X-shaped scissor fork which is not connected with any sliding seat, and one empty X-shaped scissor fork positioned at the central position of the X-shaped scissor fork assembly is also positioned and connected on the X-direction track through a first central hinge shaft.

Preferably, in each sliding seat arranged in the rectangular array, two rows of sliding seats positioned at two sides of the rectangular array are respectively and correspondingly connected to the second scissor type telescopic mechanism, so that synchronous scaling of the positions of the sliding seats in the Y direction is realized.

Preferably, heightening blocks are vertically arranged on two rows of sliding seats positioned at two sides of the rectangular array; the second scissor type telescopic mechanism comprises X-shaped scissor forks formed by a plurality of pairs of connecting rods which are connected in a crossed and rotating mode through second central hinge shafts, two adjacent pairs of X-shaped scissor forks are connected in a rotating mode through rod end hinge shafts at the end portions of the connecting rods, and two rows of sliding seats positioned at two sides of the rectangular array are correspondingly connected with the second central hinge shafts on the second scissor type telescopic mechanism in a rotating mode through heightening blocks.

Through setting up the piece of increasing for first scissors fork telescopic machanism and second scissors fork telescopic machanism form the layered structure of upper and lower two-layer, thereby eliminate first scissors fork telescopic machanism and second scissors fork telescopic machanism when the scale mutual interference.

Preferably, in the second scissor fork telescopic mechanism, in an X-shaped scissor fork assembly formed by a plurality of pairs of sequentially connected X-shaped scissor forks, each X-shaped scissor fork is connected with one sliding seat at intervals, and the X-shaped scissor fork between the two sliding seats is an empty X-shaped scissor fork which is not connected with any sliding seat.

Preferably, in the X-shaped fork assembly of the first and second scissor type telescopic mechanisms, the X-shaped forks positioned at both ends of the X-shaped fork assembly may form V-shaped forks by omitting an outer half.

Preferably, the heightened block is a Z-type heightened block.

Preferably, two rows of sliding seats positioned at two sides of the rectangular array are correspondingly connected with Y-direction reinforced linear sliding rails arranged along the Y direction, wherein the sliding seats positioned at two ends of the fixed X-direction track are fixedly connected with the Y-direction reinforced linear sliding rails, and the sliding seats positioned at two ends of the movable X-direction track are movably arranged on the Y-direction reinforced linear sliding rails.

Preferably, a reinforcing rib is fixed on one side of the Y-direction reinforced linear sliding rail.

In the utility model, the X-direction servo driving mechanism comprises X-direction servo electric cylinders and X-direction thrust blocks, wherein the X-direction servo electric cylinders are arranged along the X direction, the X-direction thrust blocks are arranged on telescopic rods of the X-direction servo electric cylinders, a main body of each X-direction servo electric cylinder is fixed on the frame, and each X-direction thrust block is fixed on one sliding seat on the fixed X-direction track.

The telescopic rod of the X-direction servo electric cylinder stretches along the X direction.

Preferably, the X-direction thrust block is fixed on a slide at the end of the fixed X-direction track.

In the utility model, the Y-direction servo driving mechanism comprises Y-direction servo electric cylinders and Y-direction thrust seats, wherein the Y-direction servo electric cylinders are arranged along the Y direction, the Y-direction thrust seats are arranged on telescopic rods of the Y-direction servo electric cylinders, the main body of each Y-direction servo electric cylinder is fixed on the frame, and each Y-direction thrust seat is fixed on one of the movable X-direction tracks.

The telescopic direction of the telescopic rod of the Y-direction servo electric cylinder is along the Y direction.

Preferably, the Y-direction thrust seat is fixed at a middle position of one of the movable X-direction rails located at the most edge.

Preferably, the X-direction servo cylinder is fixed at an upper portion of the frame, and the Y-direction servo cylinder is fixed at a lower portion of the frame.

Preferably, the movable X-direction track is symmetrically arranged at two sides of the fixed X-direction track.

A multifunctional automatic packaging manipulator for spandex spinning cakes adopts a secondary element scaling mechanism, wherein spandex spinning cake boxing tools for grabbing and releasing spinning cakes and spinning cake positioning partition plates during boxing of the spandex spinning cakes are respectively arranged on sliding seats arranged in a rectangular array in the secondary element scaling mechanism.

The spandex spinning cake boxing tool comprises an extension bar which is connected to the sliding seat and is arranged vertically downwards, and a finger cylinder which is arranged at the lower end of the extension bar and used for grabbing and releasing spinning cakes; the lengthening bars are connected to the sliding seat arranged in the rectangular array, then the lengthening bars are correspondingly arranged in the rectangular array, at least four lengthening bars positioned at the corners of the rectangular array are provided with sucker fixing plates, the sucker fixing plates are provided with upper and lower telescopic cylinders, and the lower ends of the telescopic rods of the upper and lower telescopic cylinders are connected with suckers for grabbing and releasing spinning cake positioning partition plates.

Preferably, the finger cylinder can be a self-centering multi-finger cylinder such as a two-finger cylinder, a three-finger cylinder and the like.

The multifunctional automatic spandex spinning cake packaging manipulator adopting the secondary element scaling mechanism further comprises a multi-shaft manipulator, a top plate is arranged above a frame of the secondary element scaling mechanism, a supporting rod is connected between the frame and the top plate, and a quick-change butt joint structure for realizing quick installation connection between the front end part of a mechanical arm of the multi-shaft manipulator and the upper end part of the top plate is arranged between the mechanical arm of the multi-shaft manipulator and the upper end part of the top plate.

Preferably, the multi-axis manipulator is a multi-axis joint manipulator.

Preferably, the frame is a rectangular frame, and the top plate is a rectangular top plate.

The beneficial effects of the utility model are as follows:

Firstly, the secondary element scaling mechanism and the multifunctional automatic packaging manipulator for spandex spinning cakes realize scaling and grabbing of rectangular array spinning cakes with the number of lines being more than or equal to 3 by arranging the first scissor type telescopic mechanism and the second scissor type telescopic mechanism which have the correlation function, so that the application range of the automatic packaging manipulator for spandex spinning cakes is widened; the freedom of size for boxing is high because both the transverse direction and the longitudinal direction can be independently scaled.

Second, the secondary element scaling mechanism and the multifunctional automatic packaging manipulator for spandex spinning cakes are both positioned on the scaling central line and are balanced in stress.

Thirdly, the secondary element scaling mechanism and the multifunctional automatic spandex spinning cake packaging manipulator can be scaled independently in the transverse direction and the longitudinal direction, and have high freedom degree and good flexibility for the size of the boxing; the scaling ratio can be controlled by a servo electric cylinder, and the scaling precision is high.

Fourth, the secondary element scaling mechanism and the multifunctional automatic packaging manipulator for spandex spinning cakes in the utility model only need one driving source for transverse and longitudinal scaling, and the manufacturing cost is low.

Fifth, the secondary element scaling mechanism and the multifunctional automatic packaging manipulator for spandex spinning cakes adopt a quick-change butt-joint structure between the secondary element scaling mechanism and the multi-axis manipulator, and the quick-change polyurethane spinning cake packaging manipulator is quick to replace and convenient to maintain.

Drawings

FIG. 1 is a schematic diagram of a two-dimensional zoom mechanism according to the present utility model;

FIG. 2 is an enlarged view of a portion of FIG. 1, indexed by an angle;

FIG. 3 is a schematic view of the structure of FIG. 1 after turning the tuning surface;

FIG. 4 is a schematic structural view of a spandex cake boxing tool;

fig. 5 is a schematic structural view of a multifunctional automatic spandex cake packing manipulator.

In the figure: 00. a secondary element scaling mechanism;

In the figure: 1. the device comprises a frame, 2, X-direction tracks, 2-1, X-direction linear guide tracks, 3, a sliding seat, 4, a fixed X-direction track, 5, a movable X-direction track, 6, Y-direction linear guide tracks, 7, a first scissor type telescopic mechanism, 8, a second scissor type telescopic mechanism, 9, X-direction servo driving mechanisms (X-direction servo electric cylinders), 10, Y-direction servo driving mechanisms (Y-direction servo electric cylinders), 11, a first central hinge shaft, 12, a connecting rod, 13, X-shaped scissor type forks, 14, a rod end hinge shaft, 15, a heightening block, 16, a second central hinge shaft, 17, Y-direction reinforced linear guide tracks, 18, reinforcing ribs, 19, X-direction thrust blocks, 20, Y-direction thrust seats, 21, spandex filament cake boxing tools, 22, lengthening rods, 23, finger cylinders, 24, sucker fixing plates, 25, up-down telescopic cylinders, 26, suckers, 27, multi-axis manipulators, 28, top plates, 29, supporting rods, 30 and quick-change butt joint structures.

Detailed Description

The following describes the embodiments of the present utility model further with reference to the drawings and examples. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.

Example 1:

Fig. 1 to 5 show an embodiment of a secondary element scaling mechanism and a multifunctional automatic spandex cake packaging manipulator of the present embodiment, which comprises a frame 1, a plurality of X-direction rails 2 arranged on the frame 1 at intervals along the X-direction of the frame 1, and a plurality of sliding seats 3 arranged on the X-direction rails 2 in a moving manner; one X-direction track of the X-direction tracks 2 is a fixed X-direction track 4 fixedly connected with the frame 1, the other X-direction tracks of the X-direction tracks 2 are movable X-direction tracks 5 which are respectively arranged at two sides of the fixed X-direction track 4, and the movable X-direction tracks 5 are movably arranged on the Y-direction linear guide 6 through Y-direction linear guide 6 which are arranged along the Y-direction of the frame 1; all the sliding seats 3 form rectangular array arrangement, and in each sliding seat 3 of the rectangular array arrangement, all the sliding seats 3 positioned in the same row are connected to a first scissor type telescopic mechanism 7 so as to realize synchronous scaling of the positions of the sliding seats 3 in the X direction, and at least one row of all the sliding seats 3 are connected to a second scissor type telescopic mechanism 8 so as to realize synchronous scaling of the positions of the sliding seats 3 in the Y direction; the frame 1 is also respectively provided with an X-direction servo driving mechanism 9 for driving the first scissor type telescopic mechanism 7 to realize synchronous scaling of the position of the sliding seat 3 in the X direction and a Y-direction servo driving mechanism 10 for driving the second scissor type telescopic mechanism 8 to realize synchronous scaling of the position of the sliding seat in the Y direction.

Preferably, an X-direction linear guide rail 2-1 is arranged on the X-direction track 2, and the sliding seat 3 is movably arranged on the X-direction linear guide rail 2-1.

The first scissor type telescopic mechanism 7 comprises X-shaped scissor forks 13 formed by a plurality of pairs of connecting rods 12 which are connected in a crossed and rotating way through first central hinge shafts 11, two adjacent pairs of X-shaped scissor forks 13 are connected in a rotating way through rod end hinge shafts 14 at the end parts of the connecting rods 12, and the sliding seats 3 arranged in a rectangular array are correspondingly connected in a rotating way with the first central hinge shafts 11 on the first scissor type telescopic mechanism 7.

Preferably, in the first scissor fork telescopic mechanism 7, in an X-shaped scissor fork assembly formed by a plurality of pairs of sequentially connected X-shaped scissor forks 13, each X-shaped scissor fork 13 is connected with one sliding seat 3 at intervals, the X-shaped scissor fork 13 between the two sliding seats 3 is an empty X-shaped scissor fork which is not connected with any sliding seat 3, and an empty X-shaped scissor fork 13 positioned at the central position of the X-shaped scissor fork assembly is also positioned and connected on the X-direction track 2 through the first central hinge shaft 11.

Preferably, in each sliding seat 3 arranged in the rectangular array, two rows of sliding seats 3 positioned at two sides of the rectangular array are respectively and correspondingly connected to the second scissor type telescopic mechanism 8, so that synchronous scaling of the positions of the sliding seats 3 in the Y direction is realized.

Preferably, heightening blocks 15 are vertically arranged on the two rows of sliding seats 3 positioned at the two sides of the rectangular array; the second scissor type telescopic mechanism 8 comprises an X-shaped scissor 13 formed by a plurality of pairs of connecting rods 12 which are connected in a cross rotation mode through second central hinge shafts 16, two adjacent pairs of X-shaped scissor 13 are connected in a rotation mode through rod end hinge shafts 14 at the end portions of the connecting rods 12, and two rows of sliding seats 3 positioned at two sides of the rectangular array are correspondingly connected with the second central hinge shafts 16 on the second scissor type telescopic mechanism 8 in a rotation mode through heightening blocks 15.

Through setting up the heightening block 15 for first scissors fork telescopic machanism 7 and second scissors fork telescopic machanism 8 form the layered structure of upper and lower two-layer, thereby eliminate first scissors fork telescopic machanism 7 and second scissors fork telescopic machanism 8 when the mutual interference of zooming.

Preferably, in the second scissor fork telescopic mechanism 8, in an X-shaped scissor fork assembly formed by a plurality of pairs of X-shaped scissor forks 13 connected in sequence, each X-shaped scissor fork 13 is connected with one slide seat 3 at intervals, and the X-shaped scissor fork 13 between two slide seats 3 is an empty X-shaped scissor fork which is not connected with any slide seat 3.

Preferably, in the X-shaped fork assembly of the first and second scissor type telescopic mechanisms 7 and 8, the X-shaped forks 13 positioned at both ends of the X-shaped fork assembly may form V-shaped forks by omitting an outer half.

Preferably, the heightened block 15 is a Z-type heightened block.

Preferably, two rows of sliding seats 3 positioned at two sides of the rectangular array are correspondingly connected with a Y-direction reinforced linear sliding rail 17 arranged along the Y direction, wherein the sliding seats 3 positioned at two ends of the fixed X-direction track 2 are fixedly connected with the Y-direction reinforced linear sliding rail 17, and the sliding seats 3 positioned at two ends of the movable X-direction track 5 are movably arranged on the Y-direction reinforced linear sliding rail 17.

Preferably, a reinforcing rib 18 is fixed on one side of the Y-direction reinforced linear slide 17.

In this embodiment, the X-direction servo driving mechanism 9 includes an X-direction servo cylinder 31 arranged along the X-direction and an X-direction thrust block 19 provided on a telescopic rod of the X-direction servo cylinder 31, the main body of the X-direction servo cylinder 31 is fixed on the frame 1, and the X-direction thrust block 19 is fixed on one of the carriages 3 located on the fixed X-direction track 4.

The telescopic direction of the telescopic rod of the X-direction servo cylinder 31 is along the X-direction.

Preferably, the X-direction thrust block 19 is fixed to one slide 3 located at the end of the fixed X-direction track 4.

In this embodiment, the Y-direction servo driving mechanism 10 includes a Y-direction servo cylinder 32 arranged along the Y-direction and a Y-direction thrust block 20 disposed on a telescopic rod of the Y-direction servo cylinder 32, the main body of the Y-direction servo cylinder 32 is fixed on the frame 1, and the Y-direction thrust block 20 is fixed on one of the movable X-direction rails 5.

Wherein, the telescopic direction of the telescopic rod of the Y-direction servo cylinder 32 is along the Y direction.

Preferably, the Y-direction thrust bearing 20 is fixed at a middle position of the movable X-direction rail 5 located at the most edge of the movable X-direction rail 5.

Preferably, the X-direction servo cylinder 31 is fixed to an upper portion of the frame 1, and the Y-direction servo cylinder 32 is fixed to a lower portion of the frame 1.

Preferably, the movable X-direction rails 5 are symmetrically arranged at two sides of the fixed X-direction rails 4.

Example 2:

A multifunctional automatic packaging manipulator for spandex spinning cakes adopts a secondary element scaling mechanism, wherein spandex spinning cake boxing tools 21 for grabbing and releasing spinning cakes and spinning cake positioning partition plates during packaging of the spandex spinning cakes are respectively arranged on sliding seats 3 arranged in a rectangular array in the secondary element scaling mechanism.

Preferably, the spandex cake boxing tool 21 comprises an extension bar 22 connected to the sliding seat 3 and arranged vertically downwards, and a finger cylinder 23 arranged at the lower end of the extension bar 22 and used for grabbing and putting cakes; the lengthening bars 22 are connected to the sliding seat 3 arranged in the rectangular array to correspondingly form lengthening bars 22 arranged in the rectangular array, at least four lengthening bars 22 positioned at the corners of the rectangular array are provided with sucker fixing plates 24, the sucker fixing plates 24 are provided with upper and lower telescopic cylinders 25, and the lower ends of telescopic rods of the upper and lower telescopic cylinders 25 are connected with suckers 26 for grabbing and placing wire cake positioning partition plates.

Preferably, the finger cylinder 23 may be a self-centering multi-finger cylinder such as a two-finger cylinder, a three-finger cylinder, or the like.

The multifunctional automatic spandex spinning cake packaging manipulator adopting the secondary element scaling mechanism further comprises a multi-shaft manipulator 27, a top plate 28 is arranged above the frame 1 of the secondary element scaling mechanism, a supporting rod 29 is connected between the frame 1 and the top plate 28, and a quick-change butt joint structure 30 for realizing quick installation connection between the front end part of a mechanical arm of the multi-shaft manipulator 27 and the upper end part of the top plate 28 is arranged.

Preferably, the multi-axis manipulator 27 is a multi-axis joint manipulator.

Preferably, the frame 1 is a rectangular frame, and the top plate 1 is a rectangular top plate.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.

Claims (10)

1. The secondary element scaling mechanism is characterized by comprising a frame, a plurality of X-direction tracks and a plurality of sliding seats, wherein the X-direction tracks are arranged on the frame at intervals along the X direction of the frame, and the sliding seats are arranged on the X-direction tracks in a moving manner; one X-direction track of the X-direction tracks is a fixed X-direction track fixedly connected with the frame, the other X-direction tracks of the X-direction tracks are movable X-direction tracks which are respectively arranged at two sides of the fixed X-direction track, and the movable X-direction tracks are movably arranged on the Y-direction linear guide rail through Y-direction linear guide rails which are arranged along the Y-direction of the frame; all the sliding seats in the same row are connected to the first scissor type telescopic mechanism so as to realize synchronous scaling of the sliding seats in the X direction, and at least one column of all the sliding seats are connected to the second scissor type telescopic mechanism so as to realize synchronous scaling of the sliding seats in the Y direction; the frame is also respectively provided with an X-direction servo driving mechanism for driving the first scissor type telescopic mechanism to realize synchronous scaling of the position of the sliding seat in the X direction and a Y-direction servo driving mechanism for driving the second scissor type telescopic mechanism to realize synchronous scaling of the position of the sliding seat in the Y direction.

2. A secondary zoom mechanism according to claim 1, wherein the first scissor jack comprises X-shaped scissors formed by pairs of links connected in a cross-rotational manner by a first central hinge, two adjacent pairs of X-shaped scissors being connected in a rotational manner at the ends of the links by rod end hinges, each of the carriages of the rectangular array being correspondingly connected in a rotational manner to the first central hinge on the first scissor jack.

3. A secondary element scaling mechanism according to claim 1, wherein, of the carriages arranged in the rectangular array, two rows of carriages positioned at both sides of the rectangular array are respectively and correspondingly connected to the second scissor type telescopic mechanism so as to realize synchronous scaling of the positions of the carriages in the Y direction.

4. A secondary element scaling mechanism according to claim 3, wherein raised blocks are vertically arranged on two rows of sliding seats at two sides of the rectangular array; the second scissor type telescopic mechanism comprises X-shaped scissor forks formed by a plurality of pairs of connecting rods which are connected in a crossed and rotating mode through second central hinge shafts, two adjacent pairs of X-shaped scissor forks are connected in a rotating mode through rod end hinge shafts at the end portions of the connecting rods, and two rows of sliding seats positioned at two sides of the rectangular array are correspondingly connected with the second central hinge shafts on the second scissor type telescopic mechanism in a rotating mode through heightening blocks.

5. The secondary zoom mechanism according to claim 4, wherein two rows of sliding seats positioned at two sides of the rectangular array are correspondingly connected with a Y-direction reinforced linear sliding rail arranged along the Y direction, wherein the sliding seats positioned at two ends of the fixed X-direction track are fixedly connected with the Y-direction reinforced linear sliding rail, and the sliding seats positioned at two ends of the movable X-direction track are movably arranged on the Y-direction reinforced linear sliding rail.

6. A secondary zoom mechanism according to claim 1, wherein the X-direction servo drive mechanism comprises an X-direction servo cylinder arranged in the X-direction and an X-direction thrust block provided on a telescopic rod of the X-direction servo cylinder, the body of the X-direction servo cylinder being fixed to the frame, the X-direction thrust block being fixed to one of the carriages on the fixed X-direction track.

7. The secondary zoom mechanism of claim 1, wherein the Y-direction servo drive mechanism comprises a Y-direction servo cylinder disposed in a Y-direction and a Y-direction thrust block disposed on a telescopic rod of the Y-direction servo cylinder, a main body of the Y-direction servo cylinder being fixed to the frame, the Y-direction thrust block being fixed to one of the movable X-direction rails.

8. The two-dimensional zoom mechanism of claim 1, wherein the movable X-track is symmetrically disposed on opposite sides of the fixed X-track.

9. A multifunctional automatic spandex cake packaging manipulator adopting the secondary element scaling mechanism of any one of claims 1 to 8, characterized in that each slide seat of the rectangular array arrangement is respectively provided with a spandex cake boxing tool for grasping and releasing a cake and a cake positioning baffle during the boxing of the spandex cake; the spandex spinning cake boxing tool comprises an extension bar which is connected to the sliding seat and is arranged vertically downwards, and a finger cylinder which is arranged at the lower end of the extension bar and used for grabbing and releasing spinning cakes; the lengthening bars are connected to the sliding seat arranged in the rectangular array, then the lengthening bars are correspondingly arranged in the rectangular array, at least four lengthening bars positioned at the corners of the rectangular array are provided with sucker fixing plates, the sucker fixing plates are provided with upper and lower telescopic cylinders, and the lower ends of the telescopic rods of the upper and lower telescopic cylinders are connected with suckers for grabbing and releasing spinning cake positioning partition plates.

10. The multifunctional automatic packaging manipulator for spandex spinning cakes according to claim 9, further comprising a multi-axis manipulator, wherein a top plate is arranged above the frame of the secondary element scaling mechanism, a supporting rod is connected between the frame and the top plate, and a quick-change butt joint structure for realizing quick-mounting connection between the front end part of the manipulator of the multi-axis manipulator and the upper end part of the top plate is arranged.