M433956 五、新型說明： 【新型所屬之技術領域】 本創作係應用於機械手臂之技術領域，尤指其技術上 提供一種應用於自動化設備之機械手臂結構，透過傳動臂 之弧形擺動結合該連動桿之反方向弧形擺動，確實避開週 邊的儀器或物品’將第一工作區上之物件快速的搬運至第 二工作區上》 【先前技術】 機械手臂因具有良好的操控性及靈活的移動性，已被 廣泛使用於各領域之自動化設備中。例如應用於機械加工 領域，可將機械手臂搭配加工機，用以自動取放物料；又 應用於遊戲娛樂領域，機械手臂可以受控制移動以進行夾 持物件的功能’另除了傳統產料，將機械手臂充分利用 、發揮得淋满盡致者莫過於當紅之晶圓、電路板及液晶面 板等3C產業’然而’無論傳統產業或％產業所使用之機 械 '丰辟 主要功能乃透過取料裝置反覆將物件搬移至另一 :的地’其搬移的方式可歸納為透過機構連桿或齒輪組等 ^動組件’控制機械手臂之位移行程，及運用㈣馬達等 力輪出裝置與傳動零件結合1驅動機械手f運作。 於檣I用之機械手臂如第一圖所示，該機械手臂⑴係 台上針對m三轴向設有位移機構（2)，該機械手臂 )端部固設一取料裝置（3)，該取料裝置（3)可以 3 抓取目標物件。藉此，該機械手臂（1 )制該三軸向位 移機構（2 t · 移動至目標物件上方，以取料裝置（3)自 第一工作平A r /1、 14)吸附目標物件，移動至第二工作平台 (5 )放下目標物件，再移回第-工作平纟（4 )重複物 件之搬運動作。，疮 β 准’其上述習知之搬運物件的機械手臂， 仍存在有下列缺失： 習知機械手臂單一搬運動作週期包含ΧΥΖ三軸位 移至目標物件、取料裝置吸取物件、ΧΥΖ三轴位移至另—工 作平台及放下目標物件，如此才能完成一道次物件移動， 搬運速度較慢。 各知機械手臂ΧΥΖ三轴之運動軌跡皆為直線運動 ’在：件搬運過程中容易碰觸到週邊的儀器或物品。 疋以，針對上述習知結構所存在之問題點，如何開發 -種更具理想實用性之創新結構，實消費者所殷切企盼， 亦係相關業者須努力研路* A . 苏刀研發突破之目標及方向。 有鑑於此，創作人士 本於夕年從事相關產品之製造開發 與設計經驗，針對上诚 4之目標，詳加設計與審慎評估後， 終得一確具實用性之本創作。 【新型内容】 欲解決之技術問題點· I知機械手臂搬運速度較慢， 且在物件搬運過程中容易 易碰觸到週邊的儀器或物品。 解決問題之技術特點： 马改善上述之問題，本創作提 供一種機械手臂 構’係包含有： 升降模.，且，该升降模組包括一工作檯、一機座、一 第一動力輪出裝罟；S 描 衣置及一傳動桿，該工作檯内部後側凸設一 第一承座及一篦-名 系一承座’其後面中段左、右兩侧各設有數 二承座上裝設該傳動桿，其旁侧固設一限M433956 V. New description: [New technology field] This creation is applied to the technical field of robotic arm, especially the technical arm structure of the robot, which is combined with the arc of the transmission arm. The arc swings in the opposite direction of the rod, and indeed avoids the surrounding instruments or items 'to quickly transport the objects on the first work area to the second work area.》 [Prior Art] The mechanical arm has good handling and flexibility. Mobility has been widely used in automation equipment in various fields. For example, in the field of machining, the robot arm can be matched with a processing machine for automatically picking and dropping materials; in the field of game entertainment, the robot arm can be controlled to move to hold the function of the object 'in addition to the traditional material, The 3C industry, such as the popular wafer, circuit board and LCD panel, is fully utilized and fully utilized by the robotic arm. However, the machinery used in the traditional industry or the % industry is mainly through the reclaiming device. Repeatedly moving the object to another: the ground's way of moving can be summarized as controlling the displacement of the mechanical arm through the mechanism linkage or gear set, and using (4) the motor and other force wheeling device combined with the transmission parts 1 drive robot f operates. As shown in the first figure, the robot arm (1) is provided with a displacement mechanism (2) for the m three-axis, and a retracting device (3) is fixed at the end of the robot arm. The take-up device (3) can grab the target object. Thereby, the mechanical arm (1) makes the three-axis displacement mechanism (2 t · moves to the top of the target object, and the take-up device (3) adsorbs the target object from the first working level A r /1, 14), and moves Go to the second working platform (5) to lower the target object, and then move back to the first-work level (4) to repeat the handling of the object. The sore β is the same as the above-mentioned robot arm for carrying objects, and there are still the following defects: The single handling action cycle of the conventional robot arm includes three-axis displacement to the target object, the retracting device sucks the object, and the three-axis displacement to the other - Work platform and drop the target object, so that the movement of the object can be completed one time, and the handling speed is slow. The movement trajectories of the three axes of the known robotic arms are all linear motions. </ br> During the handling of the parts, it is easy to touch the surrounding instruments or articles. In view of the problems in the above-mentioned conventional structure, how to develop an innovative structure with more ideal and practicality, the consumers are eagerly awaiting, and the relevant industry must work hard to develop the road* A. Goal and direction. In view of this, the creators are engaged in the manufacturing development and design experience of related products in the eve of the year. After the detailed design and careful evaluation of the goals of Shangcheng 4, the authors will have a practical and practical creation. [New content] Technical problems to be solved · I know that the robot arm is moving slowly, and it is easy to touch the surrounding instruments or articles during the handling of the object. Technical Features for Solving the Problem: The horse improves the above problems. The present invention provides a mechanical arm structure comprising: a lifting mold. The lifting module includes a work table, a base, and a first power wheel. S; S painting and a transmission rod, the inside of the workbench has a first socket and a 篦-名系一座' on the rear side of the workbench. The rear middle section has two sockets on the left and right sides. Install the transmission rod with a limit on the side
滑槽，該第一 位器，該傳.動桿t段相設m其—端連結該第一 力輪出裝置，允許些微的偏心傳動，其係固設於該工作 锤内4後側之該第二承座下方，該機座呈倒L型設置，其 則面1Μ又凸设一連接座，該連接座一端貫設一螺孔，該外 螺紋與該螺孔相互螺合，使該連接座螺合於該傳動桿，其 左右兩側各固設有一滑軌，各該滑軌可上下直線滑移的 套設於各該滑槽上； 一擺動模組，該擺動模組包括一傳動臂、一第二動力 輸出裝置、一第一動力傳輸裝置及一第二動力傳輸裝置， 該機座頂部一端裝設該第二動力輸出裝置，該第二動力輸 出裝置連結一第一傳動輪’該機座頂部另一端裝設該第一 動力傳輸裝置’該第一動力傳輸裝置包括一第一傳動軸裝 設於該機座頂部、一固定軸套設於該.第一傳動軸内及一第 二傳動輪固設於該第一傳動軸一端，該固定軸一端固設一a chute, the first positioner, the t-segment of the transmission rod is connected to the first force wheeling device, allowing a slight eccentric transmission, which is fixed on the rear side of the working hammer 4 Under the second socket, the base is arranged in an inverted L shape, and a connecting seat is protruded from the surface of the second socket. A screw hole is arranged at one end of the connecting seat, and the external thread and the screw hole are screwed together. The connecting seat is screwed to the transmission rod, and a sliding rail is fixed on each of the left and right sides, and each of the sliding rails can be linearly slidably disposed on each of the sliding slots; a swinging module, the swinging module includes a a second power output device is disposed at one end of the top of the base, and a second power output device is coupled to the first power transmission device. The first power transmission device includes a first transmission shaft mounted on the top of the base, a fixed shaft sleeve disposed in the first transmission shaft, and a second transmission wheel is fixed to one end of the first transmission shaft, and the fixed shaft is fixed at one end
V 固定輪，另一端固設於該機座頂部，該第一、二傳動輪間 連接一第一傳動帶，該傳動臂一端固設於該第一傳動軸端 緣，另一端裝設該第二動力傳輸裝置，該第二動力傳輸裝 M438956 置包括一第二傳動軸裝設於該傳動臂另一端、一第三傳動 輪固-又於該第一傳動轴一端及一連動桿固設於該第二傳動 轴另-端，該固定輪及第三傳動輪間連接一第二傳動帶；. 及 一取物裝置’該連動桿一端固設—取物裝置。 藉此，當該第二動力輸出裝置帶動該第一動力傳輸裝 置，可使該傳動臂繞該固定軸之輛心擺動，同時該傳動臂 將動力傳送至該第二動力傳輸裝置，可使該連動桿繞該第 二傳動軸之轴心與該傳動臂呈反方向擺動，再藉由該限位 器限制該機座升降行帛，即可透過該取物I置將第一工作 區上之物件快速的搬運至第二工作區上。 對照先前技術之功效：本創作之機械手臂結構，該傳 動臂之孤形擺動結合該連動桿之反方向弧形擺動，可使該 取物裝置之移動軌跡較具變化性，操作者可基於避開週邊 設施之考量’調整該連動桿及該傳動臂之擺動行程或擺動 速度’設計該取物裝置最適合之移動軌跡，確實避開週邊 的儀器或物品，將第一工作區上之物件快逮的搬運至第二 工作區上。 有關本創作所採用之技術、手段及其功效，兹舉一較 佳實施例並配合圖式詳細說明於后，相信本創作上述之目 的、構造及特徵，當可由之得一深入而具體的瞭解。 M438956 【實施方式】 參閱第二至第七圖所示’本創作係提供一種機械手臂 結構，係包含有： 一升降模組（1〇)，該升降模組（1〇 ㈣（⑴'-機座⑴)、一第一動力輪出 9)及一傳動桿（16)，該工作棱（11)内部後侧凸設 :第一承座（131)及-第二承座（132)，其後面中 奴左、右兩側各設有數滑槽（1 4 )，該第―、二承座（丄 31、132)内各套設—培林（15)， )上裝設該傳動桿（…，其旁側固設一限二；；； ，該限位器（”）包含一第一感測元件（171)及_ 第二感測元件（172)’該傳動桿（16)中段外周設— 卜螺紋（1 6 1 )’其-端透過-撓性聯軸器（1 8)連結 該第一動力輸出奘罟n、 y 9 ) ’允許些微的偏心傳動，該第 動力輸出裝置（1 9 )係為一馬達，其係固設於該工作 檯（11)内部後側之該第二承座（132)下方該機 座（12)呈倒丨却·罢 ^ 0又置，其别面中段凸設一連接座（工 2 1 )’該連接座（]? 7 ) 座（1 2 1 )—端貫設—螺孔（工2 2丄） 该外螺紋（1 6 1 )與該螺孔（1 2 1 !)相互螺合， 使該連接座（丄2 2 )螺合於該傳動桿（1 6 )，其左右 兩側各固叹有-滑軌（1 2 2 )，各該滑執（1 2 2 )可上 下直線滑移的套設於各該滑槽（i 4 )上： 7 ^4^8956 包括 -襬動模組（20)，該擺動模組 臂（2 、匕ϋ 7 U何一傳動 <1)、一第二動力輸出裝置Γ 輸裝置（？ q Β @ “ （2 3 )、一第—動力傳 1?、（25)及一第二動力傳輪裝置（川，該機座（ 項部-端裝設該第二動力輪出裝置（2 3 )， 一 動力輪出裝置I* w第二 f置C23)係為-馬達’該第二動力輪出裴置 (:3)連結一第一傳動輪（24)，該機座（12)頂部 另端裝設該第—動力傳輸裝置（25)，該第一動力傳輪 裝置（25)包括一第一傳動軸（251)裝設於該機座 (1 2)頂部、_固定轴（252)套設於該第一傳動軸 (251)内及一第二傳動輪（253)固設於該第一傳 動軸（251)—端’該固定轴（2 5 2) —端固設一固 定輪（2 5 4)，另一端固設於該機座（1 2)頂部，該第 一、二傳動輪（24、253)間連接一第一傳動帶（2 61)’該傳動臂（21) 一端固設於該第一傳動軸（25 1 )端緣’另一端裝設該第二動力傳輸裝置（2 7)，該第 二動力傳輪裝置（27)包括一第二傳動轴（271)裝 設於該傳動臂（21)另一端、一第三傳動輪（272) 固設於該第二傳動軸（271) —端及一連動桿（273 )固設於該第二傳動軸（271)另一端，該固定輪（2 54)及第三傳動輪（272)間連接一第二傳動帶（2 6 2 );及 一取物裝置（31)，該連動桿（273) —端固設一 M438956 取物裝置（ 一夾甜。 )，該取物裝置（3 1 可為一真空吸盤或 前述 ，調整該第一感測元件（ 固設位置，透 過其與該連接座（121)觭成 透 ，可限制該機座（12) 上升行程’同理調整該第二感 4測兀•件（1 7 2 )固@ ，透過其與該連接座（12 °又置 2)下降行釋。 ）觸碰’可限制該機座（1 月|J述，該第一動力輸出裝 3|ri-n、 、（丄透過該撓性聯軸 15 ( 1 8 )帶動該傳動桿（丄6 ) «Λ- ^ 轉’同時藉由該外螺 紋（1 6 1 )與該螺孔（丄2 、 浐r ·« ^、 彡相互螺合，將該傳動 杯（1 6 )之旋轉運動轉換為該機 。 Z )之上下位移 鍊條 述，該第一、二傳動帶（26 2 6 2 )各為 前述，該傳動臂（2 1 ) 内。6之°亥第二傳動帶（2 6 Z)—側各裝設一轉輪（？ ft、 锝輪)，各該轉輪（2 8 )與The V fixed wheel has the other end fixed to the top of the base. The first transmission belt is connected with a first transmission belt. One end of the transmission arm is fixed to the end edge of the first transmission shaft, and the other end is provided with the second end. a power transmission device, the second power transmission device M438956 includes a second transmission shaft mounted on the other end of the transmission arm, and a third transmission wheel fixed to the end of the first transmission shaft and a linkage rod fixed thereto The second transmission shaft is at the other end, and a second transmission belt is connected between the fixed wheel and the third transmission wheel; and a picking device 'the one end of the linkage rod is fixed-to-take device. Thereby, when the second power output device drives the first power transmission device, the transmission arm can be swung around the center of the fixed shaft, and the transmission arm transmits power to the second power transmission device, so that the The linkage rod swings about the axis of the second transmission shaft and the transmission arm in a reverse direction, and the limiter limits the movement of the base, so that the first working area can be placed through the object I. The object is quickly transported to the second work area. Compared with the effect of the prior art: the mechanical arm structure of the present invention, the orbital swing of the transmission arm combined with the arcuate swing of the linkage rod in the opposite direction can make the movement trajectory of the retrieval device more versatile, and the operator can avoid The consideration of the surrounding facilities is to adjust the swinging stroke or the swinging speed of the connecting rod and the transmission arm. The design of the most suitable moving track of the picking device does avoid the surrounding instruments or articles, and the objects on the first working area are fast. The catch is carried to the second work area. With regard to the techniques, means and functions of the present invention, a preferred embodiment is described in detail with reference to the drawings, and it is believed that the above objects, structures and features of the present invention can be obtained from an in-depth and specific understanding. . M438956 [Embodiment] Referring to the second to seventh figures, the author provides a mechanical arm structure, which includes: a lifting module (1〇), the lifting module (1〇(4)((1)'-machine a first seat (131) and a second socket (132) There are several chutes (1 4 ) on the left and right sides of the rear slave, and the transmission rods are installed on the first and second sockets (丄31, 132). The second side of the transmission rod (16) includes a first sensing element (171) and a second sensing element (172) ─ ─ Thread (1 6 1 ) 'the end of the transmission-flexible coupling (18) connected to the first power output 奘罟n, y 9) 'allows a slight eccentric transmission, the first power output device ( 1 9 ) is a motor which is fixed on the rear side of the second seat (132) on the inner side of the work table (11). The base (12) is inverted and then placed. A connecting seat is protruded in the middle of the other side (Work 2 1 ) 'The connector (]? 7) Seat (1 2 1 ) - End set - Screw hole (Work 2 2 丄) The external thread (1 6 1 ) and the screw hole (1 2 1 !) are screwed together , the connecting seat (丄2 2 ) is screwed to the transmission rod (16), and the left and right sides are respectively slid with a sliding rail (1 2 2 ), and each sliding (1 2 2 ) can be up and down straight The slip sleeve is disposed on each of the chutes (i 4 ): 7 ^ 4^8956 includes a swing module (20), and the swing module arm (2, 匕ϋ 7 U and one drive < 1) , a second power output device, a transmission device (? q Β @ " (2 3 ), a first - power transmission 1?, (25) and a second power transmission device (Chuan, the base (item - The second power wheeling device (2 3 ) is installed at the end, and the second power unit (I3 w is set to C23) is a motor. The second power wheel outlet device (:3) is coupled to the first a transmission wheel (24), the top end of the base (12) is provided with the first power transmission device (25), and the first power transmission device (25) includes a first transmission shaft (251) mounted thereon The top of the base (1 2), the fixed shaft (252) is sleeved in the first transmission shaft (251) and a second transmission wheel (253) Fixed to the first transmission shaft (251) - the end of the fixed shaft (2 5 2) - a fixed wheel (2 5 4) is fixed at the end, and the other end is fixed on the top of the base (12), A first transmission belt (2 61) is connected between the first and second transmission wheels (24, 253). One end of the transmission arm (21) is fixed to the end edge of the first transmission shaft (25 1 ), and the other end is installed. a second power transmission device (27), the second power transmission device (27) includes a second transmission shaft (271) mounted on the other end of the transmission arm (21), and a third transmission wheel (272) fixed The second transmission shaft (271) end and a linkage rod (273) are fixed to the other end of the second transmission shaft (271), and the fixed wheel (2 54) and the third transmission wheel (272) are connected to each other. a second drive belt (2 6 2 ); and a pick-up device (31), the linkage rod (273) is fixed at the end with a M438956 pick-up device (a sweet clip. The picking device (3 1 may be a vacuum chuck or the foregoing, adjusting the first sensing component (the fixing position through which the connecting seat (121) is permeable, the housing (12) may be restricted The ascending stroke 'samely adjusts the second sense 4 test piece (1 7 2 ) solid @, through which it is lowered with the connection seat (12 ° and 2).) Touch 'can limit the base ( In January, the first power output device 3|ri-n, (丄 transmits the transmission rod (丄6) «Λ-^转” through the flexible coupling 15 (18) The external thread (1 6 1 ) and the screw holes (丄2, 浐r·«^, 彡 are screwed together, and the rotational motion of the transmission cup (16) is converted into the machine. Z) The upper displacement chain is described above, The first and second transmission belts (26 2 6 2 ) are each as described above, and the transmission arm (2 1 ) is inside. The second transmission belt (2 6 Z) of the 6th side is equipped with a rotating wheel (? ft, 锝Wheel), each of the runners (2 8 ) and
二傳動帶（2Θ2)彈性抵靠，其且有 A 非丹丹畀碉整該第二傳勒恶 (262)張力之功能。 傳動帶 藉此’當該第二動力輸出裝置（23)帶動該第 力傳輸裝置（2 5 )’可使該傳動臂（2 i )繞該固定輪（ 2 5 2 )之轴心擺動，同時該傳動臂（2 1 )將動力傳送 至該第二動力傳輸裝置（2 7 )，可使該連動桿（2 7 3 )' 9 M438956 繞該第二傳動軸（271)之軸心與該傳動臂（21)呈 反方向擺動，再藉由該限位器（丄7)限制該機座（丄2 )升降行程，即可透過該取物裝置（3 1 )將一第一工作 區（50)上之一物件（6〇)快速的搬運至一第二工作 區（7 0 )上。 前述，該物件（6 〇 )可為一晶圓、陶盤、機械加工 件電路板或液晶面板’可藉由該真空吸盤吸附晶圓或陶 盤，亦可藉由該夾鉗抓取機械加工件、電路板或液晶面板 等進行搬運工作。 參閱第七圖所示，該傳.動臂（2 1)之弧形擺動結合 〜連動桿（2 7 3 )之反方向弧形擺動，可使該取物裝置 (3 1 )之移動軌跡較具變化性，操作者可基於避開週邊 設施之考量，調整該連動桿（2 7 3 )及該傳動臂（2工 )之擺動行程或擺動速度，設計該取物裝置（3 1 )最適 合之移動軌跡。 前文係針對本創作之較佳實施例為本創作之技術特徵 進行具體之說明，·.淮’熟悉此項技術之人士 #可在不脫離 本創作之精神與原則下對本創作進行變更與修改，而該等 變更與修改，皆應涵蓋於如下申請專利範圍所界定之範疇 中。 【圖式簡單說明】 第—圖係習用之機械手臂立體外觀圖。 10 M438956 第二圖係本創作其一實施例之立體外觀圖》 第三圖係本創作其一實施例之擺動模組立體分解圖。 第四圖係本創作其一實施例之擺動模組立體剖面圖。 第五圖係本創作其一實施例之升降模組立體圖（機座 下降至最低點狀態）。 H3. im 、伤 上升至最高點狀態）。 第七圖係本創作其一實施例之物件撫 ^ j <切仟搬運作動示意圖 :件符號說明】 第七圖係本創作其-【主要元件符號說明】 •曾用部分： (1 )機械手臂 (3 )取料裝置 (5)第二工作平台 本創作部分： (1 〇)升降模組 (1 2 )機座 (1 2 2)滑執 (1 3 1 )第一承座 (14)滑槽 (1 6 )傳動桿 (2 )位移機構 (4 ：)第—工作平台 (i 1 )工作檯 (12 1 )連接座 (1 2 1 1 )螺孔 (1 3 2 )第二承座 (1 5 )培林 第片 (17)限位器 丄^弟—感踯元技,，， 1 6 1 )外螺紋 2 )第二感測元件 19)第—動士从 （18)撓性聯軸器 力輪出歲置（ 、β u )擺動模組 M438956 (21)傳動臂 （23)第二動力輸出裝置 (24)第一傳動輪 （25)第一動力傳輸裝置 (251)第一傳動軸 （252)固定軸 (253)第二傳動輪 （254)固定輪 (261)第一傳動帶 （262)第二傳動帶 (27)第二動力傳輸裝置（271)第二傳動軸 (272)第三傳動輪 （273)連動桿 (2 8 )轉輪 (3 1 )取物裝置 (5 0 )第一工作區 (6 0 )物件 (7 0 )第二工作區 12The second transmission belt (2Θ2) is elastically abutted, and there is a function of A non-dandan to adjust the tension of the second transmission (262). The transmission belt can thereby cause the transmission arm (2 i ) to swing around the axis of the fixed wheel ( 2 5 2 ) when the second power output device (23) drives the first force transmission device (2 5 ) The transmission arm (2 1 ) transmits power to the second power transmission device ( 2 7 ), and the linkage rod (2 7 3 ) ' 9 M438956 can be wound around the axis of the second transmission shaft (271 ) and the transmission arm (21) swinging in the opposite direction, and then restricting the lifting stroke of the base (丄2) by the stopper (丄7), a first working area (50) can be transmitted through the taking device (3 1 ) One of the upper objects (6〇) is quickly transported to a second work area (70). In the foregoing, the object (6 〇) can be a wafer, a ceramic disk, a machined component circuit board or a liquid crystal panel. The wafer or the ceramic disk can be adsorbed by the vacuum chuck, and the machining can be grasped by the clamp. Carrying work on parts, boards, or LCD panels. Referring to the seventh figure, the arc-shaped swing of the transmission arm (2 1) combined with the arc-shaped swing of the reverse linkage rod (2 7 3) can make the movement path of the pickup device (3 1 ) With variability, the operator can adjust the swinging stroke or the swinging speed of the linkage lever (2 7 3 ) and the transmission arm (2 work) based on considerations of avoiding the surrounding facilities, and the design of the pickup device (3 1 ) is most suitable. The movement track. The foregoing is a detailed description of the technical features of the present invention for the preferred embodiment of the present invention. The person who is familiar with the technology can change and modify the creation without departing from the spirit and principle of the creation. Such changes and modifications shall be covered by the scope of the following patent application. [Simple description of the diagram] The first figure is a stereoscopic appearance of the robotic arm. 10 M438956 The second drawing is a three-dimensional appearance of an embodiment of the present invention. The third drawing is an exploded perspective view of the swinging module of one embodiment of the present invention. The fourth figure is a perspective sectional view of the swing module of one embodiment of the present invention. The fifth figure is a perspective view of the lifting module of the embodiment of the present invention (the chassis is lowered to the lowest point state). H3. im, injury rises to the highest point). The seventh figure is an object of the present invention, and the object is shown in the following figure: The description of the symbol is as follows: The seventh figure is the creation of the object - [the main component symbol description] • The used part: (1) Machinery Arm (3) Reclaiming device (5) Second working platform This creative part: (1 〇) lifting module (1 2 ) base (1 2 2) sliding (1 3 1) first bearing (14) Chute (16) transmission rod (2) displacement mechanism (4:) first - working platform (i 1) table (12 1) connecting seat (1 2 1 1) screw hole (1 3 2) second bearing (1 5 ) Palin first piece (17) stopper 丄 ^ brother - 踯 踯 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Coupling force wheel out of the year (, β u ) swing module M438956 (21) transmission arm (23) second power output device (24) first transmission wheel (25) first power transmission device (251) first Drive shaft (252) fixed shaft (253) second transmission wheel (254) fixed wheel (261) first transmission belt (262) second transmission belt (27) second power transmission device (271) second transmission shaft (272) Three transmission wheel (273) linkage rod (2 8) runner (3 1) take-up device (5 0 ) First working area (60) object (7 0) second working area 12