Motion state switching mechanism, synchronous opening and closing structure and clamping device for barrel material carrying

Abstract

The invention relates to a motion state switching mechanism, a synchronous opening and closing structure and a clamping device for barrel material carrying, and relates to the technical field of material transfer, the motion state switching mechanism comprises a track plate and a supporting column connected to the track plate, the track plate is provided with a cam track and an annular track, and the cam track and the annular track partially coincide; a sliding block is jointly arranged in the cam track in a sliding mode and used for being connected with a moving part arranged in the sliding rail in a sliding mode, a switching assembly is arranged on the track plate, when the track plate rotates forwards relative to the supporting column, the switching assembly guides the sliding block to slide in the cam track so that the moving part can slide in the sliding rail in a reciprocating mode, and when the track plate rotates backwards relative to the supporting column, the switching assembly guides the sliding block to slide in the cam track. The switching assembly guides the sliding block to slide in the annular rail so that the moving part can be static in the sliding rail, the movement form of the moving part is applied to barrel material carrying, and the containing space needed by lifting can be saved. The truss manipulator has the effect that the truss manipulator can be applied to a working place with a narrow top space.

Description

Technical Field

[0001] The present application relates to the technical field of material transfer, and in particular to a motion state switching mechanism, a synchronous opening and closing structure, and a clamping device for barrel material transfer. Background Art

[0002] With the development of the logistics industry, the handling of barrel goods has become more and more common. The existing barrel lifting and transportation generally adopts the lifting method of manipulators.

[0003] When using a truss manipulator to transport barrel materials, the lifting mechanism first drives the clamping mechanism to move to a position close to the barrel material, and then the clamping mechanism opens and clamps on the barrel material. The lifting mechanism then drives the clamping mechanism to carry the barrel material for lifting and transporting, so as to achieve the position transfer of the barrel material cargo.

[0004] In the above scheme, since the lifting mechanism is required to drive the clamping mechanism close to the barrel material, the lifting mechanism needs to reserve an accommodation space that is compatible with the driving stroke of its own movable end. Therefore, in terms of height, the truss manipulator needs to have a larger operating space, which makes the truss manipulator difficult to use in a workplace with a narrow top space. Summary of the invention

[0005] In order to enable the truss manipulator to be used in a workplace with a narrow top space, the present application provides a motion state switching mechanism, a synchronous opening and closing structure, and a clamping device for barrel material handling.

[0006] In a first aspect, the present application provides a motion state switching mechanism, which adopts the following technical solution: A motion state switching mechanism comprises a track plate and a support column rotatably arranged on the track plate, wherein a first track, a second track and a third track are arranged on the track plate, wherein the first track and the second track are combined to form a cam track, and the second track and the third track are combined to form a circular track, wherein the rotation axis of the support column coincides with the axis of the circular track, and the first track, the second track and the third track are interconnected in pairs; Slide blocks are slidably arranged in the first track, the second track and the third track, and the slide blocks are used to be connected with moving parts slidably arranged in the slide rails. A switching component for switching the sliding track of the slide blocks is arranged on the track plate; When the track plate rotates forward relative to the support column, the switching assembly guide slider always slides in the cam track to make the moving part slide back and forth in the slide rail. When the track plate rotates backward relative to the support column, the switching assembly guide slider always slides in the circular track to make the moving part stationary in the slide rail.

[0007] By adopting the above technical solution, under the restriction of the moving direction of the moving part by the slide rail, when the slider slides in the cam track, the cam track can push the slider to cyclically approach or move away from the rotation center of the track plate, so that the slider can drive the moving part to slide back and forth. When the slider slides in the circular track, the circular track can keep the slider and the rotation center of the track plate at a fixed distance, and the slider can drive the moving part to a stationary state.

[0008] The direction of rotation of the track plate relative to the support column is different, and the movement state of the switching component guide slider is also different. By adjusting the rotation direction of the track plate, the slider can be adjusted to slide in the cam track or the circular track, so that the sliding state and the stationary state of the moving part are easy to switch and control.

[0009] Optionally, the switching assembly includes a first guide block and a second guide block, the first guide block and the second guide block are respectively hinged at two side edges formed by the first track and the third track, and the first guide block and the second guide block are both arc-shaped on the sides close to each other, and are both straight-line-shaped on the sides away from each other; A first coil spring is provided at the hinge of the first guide block, and the first coil spring is used to drive the first guide block to be clamped in the first switching groove provided on the track plate, so that the slider can slide between the first track and the second track from the straight side of the first guide block; The track plate is provided with a second switching groove, which is used to accommodate the first guide block so that the slider can slide between the second track and the third track from the arc side of the first guide block; A second coil spring is provided at the hinge of the second guide block, and the second coil spring is used to drive the second guide block to be clamped in the third switching groove provided on the track plate, so that the slider can slide between the second track and the first track from the arc side of the second guide block; The track plate is provided with a fourth switching groove, which is used to accommodate the second guide block so that the slider can slide between the first track and the second track from the straight side of the second guide block.

[0010] By adopting the above technical solution, the sliding direction of the slider in the first track, the second track and the third track can be adjusted by regulating the steering of the track plate. When the track plate rotates forward, the slider slides from the second track into the first track through the straight side of the first guide block, and the slider pushes the second guide block to swing, so as to slide from the first track into the second track through the straight side of the second guide block, so that the slider can slide in the cam track; when the track plate is reversed, the slider slides from the second track into the third track through the arc side of the second guide block, and the slider pushes the first guide block to swing, so as to slide from the third track into the second track through the arc side of the first guide block, so that the slider can slide in the circular track, thereby switching the motion state of the slider by changing the rotation direction of the track plate.

[0011] Optionally, the track plate includes a process plate and a mounting plate, one side of the process plate is fixedly connected to one side of the mounting plate, and the first track, the second track and the third track are all opened on the process plate and all pass through the thickness of the process plate.

[0012] By adopting the above technical solution, the first track, the second track and the third track are processed on the process board, and then the process board is fixed on the mounting plate, so that the first track, the second track and the third track are easy to process and the slider is easy to place in the first track, the second track or the third track.

[0013] In a second aspect, the present application provides a synchronous opening and closing structure, which adopts the following technical solution: A synchronous opening and closing structure has two use states, the first use state is used to drive three or more surrounding movable parts to open and gather synchronously and cyclically alternately, and the second use state is used to drive three or more surrounding movable parts to always be in a synchronously gathered state, the synchronous opening and closing structure includes a synchronous opening and closing mechanism and the above-mentioned motion state switching mechanism; The synchronous opening and closing mechanism includes a central slide rail frame, on which more than three central slide rail holes are opened, and the moving parts slide through the central slide rail holes one by one, and the sliding direction of the moving parts is the direction approaching or moving away from the center position of the central slide rail frame; Along the circumferential direction of the moving parts, from one of the moving parts to the last moving part, a synchronous slide rail is provided between two adjacent moving parts, each of the synchronous slide rails is provided with two synchronous slide rail holes, and the two moving parts are respectively slidably penetrated in the two synchronous slide rail holes, and the sliding direction of the two moving parts is a direction of approaching or moving away from each other; Each synchronous slide rail is slidably connected to a synchronous guide bar, which is connected to the central slide rail frame. The synchronous guide bar is used to guide the sliding direction of the synchronous slide rail relative to the central slide rail frame. When the moving part moves toward a center position away from the central slide rail frame, the synchronous guide bar guides the synchronous slide rail to move toward a center position away from the central slide rail frame. The support column is connected to the center position of the central slide rail frame, and the slider is connected to one of the moving parts. When the track plate rotates forward relative to the support column, the synchronous opening and closing structure is in the first usage state. When the track plate rotates reversely relative to the support column, the synchronous opening and closing structure is in the second usage state.

[0014] By adopting the above technical scheme, under the drive of the motion state switching mechanism, one of the moving parts can switch between the sliding state and the stationary state in the central slide rail hole. When one of the moving parts is in the reciprocating sliding state, under the linkage drive of the synchronous slide rail, the remaining moving parts are also in the reciprocating sliding state, so that all the moving parts can be opened or gathered synchronously. When one of the moving parts is in the stationary state, the remaining moving parts can also be in the stationary state synchronously, so that all the moving parts can be in the stationary state synchronously at all times, so that the four moving parts can easily realize the cyclic synchronous opening and closing state and the always-aggregated state, and the four moving parts can easily switch between the cyclic synchronous opening and closing state and the always-aggregated state.

[0015] In a third aspect, the present application provides a clamping device for barrel material handling, which adopts the following technical solution: A clamping device for barrel material handling, comprising a vertical lifting structure, a clamping claw structure and the above-mentioned synchronous opening and closing structure; The vertical lifting structure includes a fixed frame and a lifting frame; The lifting frame is slidably arranged on the fixed frame, and the fixed frame provides lifting support for the lifting frame; The central slide rail frame is connected to the lifting frame body; The clamping structure includes a clamping rod and a clamping mechanism. There are at least three clamping rods and clamping mechanisms, and they correspond to each other. All the clamping rods are arranged around. The clamping mechanism is connected to one end of the clamping rod and is used to clamp on the side wall of the barrel material. The moving part is the clamping rod. The first use state of the synchronous opening and closing structure corresponds to the descending process of the lifting frame. During the descending process of the lifting frame, the synchronous opening and closing structure causes all the clamping claws to be synchronously opened first and then synchronously gathered. The second use state of the synchronous opening and closing structure corresponds to the ascending process of the lifting frame body. During the ascending process of the lifting frame body, the synchronous opening and closing structure is used to keep all the clamping claw rods in a converged state at all times.

[0016] By adopting the above technical solution, the up and down sliding of the lifting frame realizes the lifting and lowering of the clamping rod and the clamping mechanism. Under the drive of the synchronous opening and closing mechanism, all the clamping rods can be opened synchronously first during the descent process to leave space for clamping the barrel material, and then synchronously aggregated to enable the clamping mechanism to clamp and fix the barrel material. All the clamping rods can always be in a synchronous aggregation state during the ascending process to enable the clamping mechanism to clamp and lift the barrel material, so that the manipulator does not need to set up a vertical accommodating space, so that the truss manipulator can be used in workplaces with narrow top space.

[0017] Optionally, the fixed frame includes at least one lifting column, all the lifting columns are arranged around, and the lifting frame is slidably arranged on all the lifting columns.

[0018] By adopting the above technical solution, the lifting frame body is slid and lifted with the lifting columns as lifting supports, so that the lifting function of the lifting frame body does not need to set up an accommodating space.

[0019] Optionally, a guide slide is connected to the bottom end of the lifting column, and at least one side panel is connected to the lifting frame body. The side panels correspond to the lifting columns one by one, and each side panel is connected to a guide rail, and the guide slide is slidably arranged in the guide rail.

[0020] By adopting the above technical solution, the guide slide plate and the guide rail form a sliding guide structure of the lifting column and the lifting frame, thereby improving the sliding stability of the lifting frame.

[0021] Optionally, a central roller and a plurality of synchronous rollers are nested on the clamping jaw rod, the number of the synchronous rollers is consistent with the number of the synchronous slide rail holes penetrated by the clamping jaw rod, and the synchronous rollers on the clamping jaw rod correspond one-to-one to the synchronous slide rail holes penetrated by the clamping jaw rod, the central roller and the synchronous rollers are both rotatably connected to the clamping jaw rod, the central roller is slidably arranged in a first limiting slide groove opened on the side wall of the central slide rail hole, and the synchronous roller is slidably arranged in a second limiting slide groove opened on the side wall of the synchronous slide rail hole.

[0022] By adopting the above technical scheme, the clamping claw rod slides in the central slide rail hole through the central roller, and slides in the synchronous slide rail hole through the synchronous roller, so that the clamping claw rod can slide relative to the central slide rail frame and the synchronous slide rail in a rolling form, thereby reducing the sliding wear of the clamping claw rod; because the central roller and the synchronous roller are both embedded in the clamping claw rod, and the central roller is clamped in the first limiting slide groove in the vertical direction and the synchronous roller is clamped in the second limiting slide groove in the vertical direction, the clamping claw rod is not easy to move relative to the central slide rail frame and the synchronous slide rail in the vertical direction.

[0023] Optionally, the clamping mechanism includes a push plate connected to the clamping rod, the push plate is connected to a push rod, the push rod is connected to a buffer plate, the end of the push rod is slidably arranged in a buffer slide groove opened on the buffer plate, a buffer spring is sleeved on the push rod, the buffer spring is used to drive the buffer plate to slide away from the push plate, and the buffer plate is connected to an arc-shaped clamping jaw, which is adapted to the side wall of the barrel material and is used to clamp on the side wall of the barrel material.

[0024] By adopting the above technical solution, when the jaw rods converge to clamp the barrel material, the jaw rods first drive the arc-surface jaws to abut against the side wall of the barrel material, and then the jaw rods gradually compress the buffer spring to buffer the convergence displacement of the jaw rods, and finally the jaw rods squeeze the arc-surface jaws on the side wall of the barrel material through the push rod, so that the jaw rods are not easy to have a rigid collision with the side wall of the barrel material during convergence clamping.

[0025] Optionally, it also includes a power transmission structure, which includes a driving motor connected to the lifting frame body, the driving motor is connected to a double-headed reducer, one of the output shafts of the double-headed reducer is connected to a first synchronous pulley, each lifting column is sleeved with a second synchronous pulley, the second synchronous pulley is threadedly connected to the lifting column, the second synchronous pulley is rotatably connected to the lifting frame body, and the first synchronous pulley and all the second synchronous pulleys are commonly wound with a first synchronous belt; Another output shaft of the double-head reducer is connected to a third synchronous pulley, a fourth synchronous pulley is sleeved on the support column, the fourth synchronous pulley is rotatably connected to the support column and fixedly connected to the track plate, and the third synchronous pulley and the fourth synchronous pulley are jointly wound with a second synchronous belt.

[0026] By adopting the above technical solution, since the driving motor synchronously drives the lifting and lowering of the lifting frame and the rotation of the track plate, when the lifting frame descends, the track plate can rotate forward, and when the lifting frame rises, the track plate can reverse. Therefore, under the synchronous drive of the driving motor, the movement of the clamping claw rod can adapt to the movement of the lifting frame.

[0027] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting a motion state switching mechanism, the sliding state and static state of the gripper rod can be easily switched and controlled; 2. By setting up a synchronous opening and closing structure, all the clamping claws can be easily opened and closed in a cyclic synchronous state and always in a gathering state, and all the moving parts can be easily switched between the cyclic synchronous opening and closing state and the gathering state; 3. By setting up a vertical lifting structure, a clamping claw structure and a power transmission structure, the clamping claw mechanism can first open synchronously and then converge synchronously to clamp and fix the barrel material when descending, and the clamping claw mechanism can clamp and lift the barrel material when ascending. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a motion state switching mechanism of the present application; Figure 2 It is a structural schematic diagram of a cam track, an annular track and a switching component in a motion state switching mechanism of the present application; Figure 3 It is a cross-sectional view of a first switching slot, a second switching slot, a third switching slot and a fourth switching slot in a motion state switching mechanism of the present application; Figure 4 yes Figure 2 Magnified view at A in the middle; Figure 5 yes Figure 2 Magnified view at B in the middle; Figure 6It is a structural schematic diagram of a synchronous opening and closing structure of the present application; Figure 7 It is a structural schematic diagram of a synchronous opening and closing mechanism in a synchronous opening and closing structure of the present application; Figure 8 It is a structural schematic diagram of a clamping device for barrel material handling in the present application; Fig. 9 This is a schematic structural diagram of a clamping device for barrel material handling according to the present application from another angle; Fig.10 It is a structural schematic diagram of a central roller and a synchronous roller of a clamping device for barrel material handling of the present application; Fig.11 It is a structural schematic diagram of a power transmission mechanism of a clamping device for barrel material handling in the present application; Fig.12 It is a structural schematic diagram of a clamping mechanism of a clamping device for barrel material handling in the present application; Fig.13 It is a structural schematic diagram of a third synchronous pulley and a mounting seat of a clamping device for barrel material transportation in the present application.

[0029] Description of reference numerals: 101, track plate; 102, support column; 103, first track; 104, second track; 105, third track; 106, cam track; 107, circular track; 108, slider; 109, switching assembly; 110, first guide block; 111, second guide block; 112, first coil spring; 113, second coil spring; 114, first switching slot; 115, second switching slot; 116, third switching slot; 117, fourth switching slot; 118, process plate; 119, mounting plate; 201, center slide rail frame; 202, center slide rail hole; 203, synchronous slide rail bar; 204, synchronous slide rail hole; 205, synchronous guide bar; 206, first limit slide groove; 207, second limit slide groove; 310, fixed frame; 311, lifting column; 312, guide slide; 320, lifting frame; 321, lifting plate; 322, connecting column; 323, mounting frame; 330, side plate; 340, guide slide rail; 410, clamping claw rod; 411, center roller; 412, synchronous roller; 420, push plate; 430, push rod; 440, buffer plate; 441, buffer slide; 450, buffer spring; 460, arc surface clamping claw; 510, driving motor; 511, double-head reducer; 520, first synchronous pulley; 530, second synchronous pulley; 540, first synchronous belt; 550, third synchronous pulley; 551, mounting seat; 560, fourth synchronous pulley; 570, second synchronous belt; 610. Horizontal slide rail; 620. Crossbeam. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-13 This application is described in further detail.

[0031] An embodiment of the present application discloses a motion state switching mechanism.

[0032] Reference Figure 1 and Figure 2 A motion state switching mechanism includes a track plate 101 and a support column 102 rotatably arranged on the track plate 101, a first track 103, a second track 104 and a third track 105 are provided on the track plate 101, the first track 103 and the second track 104 are combined to form a cam track 106, a small arc segment of the cam track 106 is located on the first track 103, the second track 104 and the third track 105 are combined to form a circular track 107, the rotation axis of the support column 102 coincides with the axis of the circular track 107, and the first track 103, the second track 104 and the third track 105 are connected to each other.

[0033] Reference Figure 2 A slider 108 is slidably arranged inside the first rail 103, the second rail 104 and the third rail 105. The slider 108 is used to connect with a moving part slidably arranged inside the slide rail. The extended cross-sections of the first rail 103, the second rail 104 and the third rail 105 are all T-shaped to prevent the slider 108 from escaping from the first rail 103, the second rail 104 or the third rail 105. A switching component 109 for switching the sliding trajectory of the slider 108 is arranged on the rail plate 101.

[0034] When the track plate 101 rotates forwardly relative to the support column 102, the switching component 109 guides the slider 108 to always slide in the cam track 106 so that the moving part can slide back and forth in the slide rail. When the track plate 101 rotates backwardly relative to the support column 102, the switching component 109 guides the slider 108 to always slide in the circular track 107 so that the moving part can remain stationary in the slide rail.

[0035] With the slide rail restricting the moving direction of the moving part, when the slider 108 slides in the cam track 106, the cam track 106 can push the slider 108 to cyclically approach or move away from the rotation center of the track plate 101, so that the slider 108 can drive the moving part to slide back and forth. When the slider 108 slides in the circular track 107, the circular track 107 can keep the slider 108 and the rotation center of the track plate 101 at a fixed distance at all times, and the slider 108 can drive the moving part to be stationary.

[0036] The direction of rotation of the track plate 101 relative to the support column 102 is different, and the movement state of the switching component 109 guiding the slider 108 is also different. Therefore, by adjusting the rotation direction of the track plate 101, the slider 108 can be adjusted to slide in the cam track 106 or the circular track 107, so that the sliding state and the stationary state of the moving part are easy to switch and control.

[0037] The movement form of the above-mentioned moving parts can be applied to the handling scheme of barrel materials, so that the clamping parts in the clamping mechanism can first move horizontally away from the barrel material when approaching the barrel material to leave space for clamping the barrel material, and then the clamping parts of the clamping mechanism are horizontally close to the barrel material so that the clamping parts are clamped on the barrel material, and then the clamping mechanism rises under the action of the lifting mechanism, so that the clamping parts are always in a static state, so that the clamping mechanism can clamp the barrel material and move the barrel material to the handling position, so that the manipulator does not need to set up a vertical accommodating space, so that the truss manipulator can be used in workplaces with narrow top space.

[0038] Further, refer to Figure 2 The switching assembly 109 includes a first guide block 110 and a second guide block 111 .

[0039] The first guide block 110 and the second guide block 111 are respectively hinged at two side edges formed by the first rail 103 and the third rail 105. The sides of the first guide block 110 and the second guide block 111 that are close to each other are both arc-shaped, and the sides that are away from each other are both straight-line. The straight sides of the first guide block 110 and the second guide block 111 can guide the slider 108 to slide between the first rail 103 and the second rail 104, and the arc sides of the first guide block 110 and the second guide block 111 can guide the slider 108 to slide between the second rail 104 and the third rail 105.

[0040] Reference Figure 2 , Figure 3 and Figure 4 A first coil spring 112 is provided at the hinge of the first guide block 110, and the two ends of the first coil spring 112 are respectively fixedly connected to the first guide block 110 and the track plate 101. The first coil spring 112 is used to drive the first guide block 110 to be clamped in the first switching groove 114 provided on the track plate 101, so that the slider 108 can slide between the first track 103 and the second track 104 from the straight side of the first guide block 110. A second switching groove 115 is provided on the track plate 101, and the second switching groove 115 is used to accommodate the first guide block 110, so that the slider 108 can slide between the second track 104 and the third track 105 from the arc side of the first guide block 110.

[0041] Under the action of the first coil spring 112, the first guide block 110 connects the first track 103 and the second track 104, and elastically closes the second track 104 and the third track 105. When the track plate 101 is in the forward rotation state, the straight side of the first guide block 110 enables the slider 108 to slide between the first track 103 and the second track 104. When the track plate 101 is in the reverse state, the slider 108 can push the first guide block 110 to swing to open the elastic closure of the first guide block 110 to the second track 104 and the third track 105. At this time, the first guide block 110 is clamped in the second switching groove 115 to slide from the third track 105 into the second track 104 through its own arc side guiding slider 108.

[0042] Reference Figure 2 , Figure 3 and Figure 5 A second coil spring 113 is provided at the hinge of the second guide block 111, and the two ends of the second coil spring 113 are respectively fixedly connected to the second guide block 111 and the track plate 101. The second coil spring 113 is used to drive the second guide block 111 to be clamped in the third switching groove 116 provided on the track plate 101, so that the slider 108 can slide between the second track 104 and the first track 103 from the arc side of the second guide block 111. A fourth switching groove 117 is provided on the track plate 101, and the fourth switching groove 117 is used to accommodate the second guide block 111, so that the slider 108 can slide between the first track 103 and the second track 104 from the straight side of the second guide block 111.

[0043] Under the action of the second coil spring 113, the second guide block 111 connects the second track 104 and the third track 105, and elastically closes the second track 104 and the first track 103. When the track plate 101 is in the reverse state, the arc side of the second guide block 111 enables the slider 108 to slide between the second track 104 and the third track 105. When the track plate 101 is in the forward rotation state, the slider 108 can push the second guide block 111 to swing to open the elastic closure of the second guide block 111 to the second track 104 and the first track 103. At this time, the second guide block 111 is clamped in the fourth switching groove 117 to slide from the first track 103 into the second track 104 through its own straight side guiding slider 108.

[0044] Furthermore, refer to Figure 1 and Figure 2The track plate 101 includes a process plate 118 and a mounting plate 119. One side of the process plate 118 is fixedly connected to one side of the mounting plate 119. The first track 103, the second track 104 and the third track 105 are all opened on the process plate 118 and all pass through the thickness of the process plate 118. The first track 103, the second track 104 and the third track 105 are processed on the process plate 118, and then the process plate 118 is fixed on the mounting plate 119, so that the first track 103, the second track 104 and the third track 105 with T-shaped cross-sections are easy to process, and it is easy to place the slider 108 in the first track 103, the second track 104 or the third track 105.

[0045] The implementation principle of a motion state switching mechanism in the embodiment of the present application is as follows: when in use, the sliding direction of the slider 108 in the first track 103, the second track 104 and the third track 105 can be adjusted by adjusting the direction of the track plate 101. When the track plate 101 rotates forward, the slider 108 slides from the second track 104 into the first track 103 through the straight side of the first guide block 110, and the slider 108 pushes the second guide block 111 to swing, so as to slide from the first track 103 into the second track 104 through the straight side of the second guide block 111, so that the slider 108 can slide in the cam track 106. Sliding; when the track plate 101 reverses, the slider 108 slides from the second track 104 into the third track 105 through the arc side of the second guide block 111, and the slider 108 pushes the first guide block 110 to swing, so as to slide from the third track 105 into the second track 104 through the arc side of the first guide block 110, so that the slider 108 can slide in the circular track 107, and thus by changing the rotation direction of the track plate 101, the movement state of the slider 108 can be switched, and then under the restriction of the slide rail on the moving direction of the moving part, the sliding state and the stationary state of the moving part are easy to switch and control.

[0046] The embodiment of the present application discloses a synchronous opening and closing structure.

[0047] Reference Figure 6 A synchronous opening and closing structure has two usage states. The first usage state is used to drive four surrounding moving parts to open and gather alternately in a synchronous cycle. The second usage state is used to drive the four surrounding moving parts to always be in a gathered state synchronously. The first usage state of the synchronous opening and closing structure can be applied to the process in which the clamping parts of the clamping mechanism descend to clamp the barrel material, and the second usage state of the synchronous opening and closing structure can be applied to the process in which the clamping parts of the clamping mechanism rise to lift the barrel material.

[0048] The synchronous opening and closing structure includes a synchronous opening and closing mechanism and the above-mentioned motion state switching mechanism.

[0049] Reference Figure 7The synchronous opening and closing mechanism includes a central slide rail frame 201, which is in a cross shape. Four central slide rail holes 202 are provided on the central slide rail frame 201. The moving parts slide through the central slide rail holes 202 one by one. The sliding direction of the moving parts is the direction of approaching or moving away from the center position of the central slide rail frame 201. The central slide rail holes 202 limit the sliding direction of the moving parts. Along the circumferential direction of the moving parts, from one of the moving parts to the last moving part, a synchronous slide bar 203 is arranged between two adjacent moving parts, and in order to drive the moving parts more smoothly, a synchronous slide bar 203 is also arranged between one of the leading moving parts and the last moving part at the end, and two adjacent synchronous slide bars 203 are respectively located on both sides of the central slide frame 201, and each synchronous slide bar 203 is arranged in close contact with the central slide frame 201.

[0050] Each synchronous slide rail 203 is provided with two synchronous slide rail holes 204, and two moving parts are respectively slidably inserted into the two synchronous slide rail holes 204. For two moving parts on one synchronous slide rail 203, the sliding directions of the two moving parts are the directions of approaching or moving away from each other. When one moving part slides, the synchronous slide rail 203 can play a linkage role in driving the other moving part to slide synchronously. Both ends of each synchronous slide bar 203 are slidably connected with a synchronous guide bar 205. For the two synchronous slide bars 203 located on the same side of the central slide frame 201, the two synchronous guide bars 205 at both ends of one synchronous slide bar 203 correspond to the two synchronous guide bars 205 at both ends of the other synchronous slide bar 203 and are connected as a whole. The synchronous guide bar 205 is fixed to the central slide frame 201. The synchronous guide bar 205 is used to guide the sliding direction of the synchronous slide bar 203 relative to the central slide frame 201. When the moving part moves toward a center position away from the central slide frame 201, the synchronous guide bar 205 guides the synchronous slide bar 203 to move toward a center position away from the central slide frame 201. Therefore, when one of the moving parts slides, under the linkage action of all the synchronous slide bars 203, all the moving parts can be opened or aggregated synchronously.

[0051] Reference Figure 6 The support column 102 is fixedly arranged at the center position of the central slide rail frame 201, and the slider 108 is rotationally connected to one of the moving parts. When the track plate 101 rotates forward relative to the support column 102, the synchronous opening and closing structure is in the first use state, and when the track plate 101 rotates reversely relative to the support column 102, the synchronous opening and closing structure is in the second use state.

[0052] The implementation principle of a synchronous opening and closing structure of an embodiment of the present application is: when in use, under the drive of the motion state switching mechanism, one of the moving parts can switch between the sliding state and the stationary state in the central slide rail hole 202; when one of the moving parts is in a reciprocating sliding state, under the linkage drive of the synchronous slide rail bar 203, the remaining moving parts are also in a reciprocating sliding state, so that all the moving parts can be synchronously opened or synchronously aggregated; when one of the moving parts is in a stationary state, the remaining moving parts can also be synchronously in a stationary state, so that all the moving parts can be synchronously in a stationary state at all times, thereby making it easy for the four moving parts to achieve a cyclic synchronous opening and closing state and a constant aggregation state, and making it easy for the four moving parts to switch between a cyclic synchronous opening and closing state and a constant aggregation state.

[0053] The embodiment of the present application also discloses a clamping device for transporting barrel materials.

[0054] Reference Figure 8 A clamping device for barrel material handling includes a vertical lifting structure, a clamping claw structure and the above-mentioned synchronous opening and closing structure.

[0055] Reference Fig. 9 The vertical lifting structure includes a fixed frame 310 and a lifting frame 320. The lifting frame 320 is slidably arranged on the fixed frame 310, and the fixed frame 310 provides lifting support to the lifting frame 320. The central slide frame 201 is fixedly connected to the lifting frame 320. The lifting frame 320 slides on the fixed frame 310 to drive the central slide frame 201 to be lifted and lowered in the vertical direction.

[0056] The clamping structure includes a clamping rod 410 and a clamping mechanism. There are four clamping rods 410 and four clamping mechanisms, and they correspond to each other one by one. All the clamping rods 410 are arranged in a circle. The clamping mechanism is connected to one end of the clamping rod 410 and is used to clamp on the side wall of the barrel material. The above-mentioned moving parts are clamping rods 410. The motion connection state of all moving parts is equivalent to the motion connection state of all clamping rods 410, that is, all the clamping rods 410 can be synchronously opened and then synchronously aggregated under the drive of the synchronous opening and closing structure, and can also be always in an aggregated state under the drive of the synchronous opening and closing structure. When all the clamping rods 410 are aggregated, they can clamp and fix the barrel material through the clamping mechanism.

[0057] The first use state of the synchronous opening and closing structure corresponds to the descending process of the lifting frame 320. During the descending process of the lifting frame 320, the synchronous opening and closing structure causes all the clamping claw rods 410 to be synchronously opened first and then synchronously gathered, so that the clamping claw mechanism can clamp and fix the barrel material during the descending process. The second use state of the synchronous opening and closing structure corresponds to the rising process of the lifting frame 320. During the rising process of the lifting frame 320, the synchronous opening and closing structure is used to keep all the clamping rods 410 in a converged state at all times, so that the clamping mechanism can clamp and lift the barrel material during the rising process.

[0058] The up and down sliding of the lifting frame 320 realizes the lifting and lowering of the clamping rod 410 and the clamping mechanism. Under the drive of the synchronous opening and closing mechanism, all the clamping rods 410 can first open synchronously during the descent process to leave space for clamping the barrel material, and then synchronously converge so that the clamping mechanism clamps and fixes the barrel material. All the clamping rods 410 can always be in a synchronous convergence state during the ascending process, so that the clamping mechanism clamps and lifts the barrel material, thereby eliminating the need to set up a vertical accommodating space for the manipulator, and allowing the truss manipulator to be used in workplaces with narrow top space.

[0059] Specifically, refer to Fig. 9 The fixed frame 310 includes two lifting columns 311, and the two lifting columns 311 are symmetrically arranged. The lifting frame 320 is slidably arranged on all the lifting columns 311. The lifting frame 320 slides and rises with the lifting columns 311 as lifting supports, so that the lifting function of the lifting frame 320 does not require the setting of an accommodation space.

[0060] Among them, refer to Fig. 9 The lifting frame body 320 includes a lifting plate 321, connecting columns 322 and a mounting frame 323. A plurality of connecting columns 322 are arranged around and are all fixedly connected to one side of the lifting plate 321. The mounting frame 323 is fixedly connected to one end of all the connecting columns 322 away from the lifting plate 321. The lifting column 311 is slidably penetrated on the lifting plate 321 to form a sliding connection structure between the lifting frame body 320 and the fixed frame body 310.

[0061] In particular, refer to Fig. 9 The synchronous guide bar 205 is fixedly connected to the mounting frame 323, and the central slide rail frame 201 is fixedly connected to the mounting frame 323. The mounting frame 323 enables the synchronous guide bar 205 and the central slide rail frame 201 to be fixedly connected.

[0062] The lifting frame body 320 formed by the lifting plate 321, the connecting column 322 and the mounting frame 323, on the one hand, reduces the dead weight of the lifting frame body 320, making the lifting frame body 320 easier to lift; on the other hand, forms a space for installing the synchronous opening and closing structure, thereby improving the space utilization rate of the synchronous opening and closing structure on the lifting frame body 320 and increasing the compactness of the clamping device.

[0063] Further, refer to Fig. 9A guide slide 312 is fixedly connected to the bottom end of the lifting column 311, and two side panels 330 are connected to the mounting frame 323. The side panels 330 correspond to the lifting columns 311 one by one. A guide rail 340 is fixedly connected to each side panel 330. The guide slide 312 is slidably arranged in the guide rail 340. The guide slide 312 and the guide rail 340 form a sliding guide structure of the lifting column 311 and the lifting frame body 320, thereby improving the sliding stability of the lifting frame body 320.

[0064] Reference Fig.10 In order to enable the clamping claw rod 410 to be stably located in the central slide rail hole 202 and the synchronous slide rail hole 204, a central roller 411 and two synchronous rollers 412 are nested on the clamping claw rod 410. The number of synchronous rollers 412 is consistent with the number of synchronous slide rail holes 204 penetrated by the clamping claw rod 410, and the synchronous rollers 412 on the clamping claw rod 410 correspond one-to-one to the synchronous slide rail holes 204 penetrated by the clamping claw rod 410. The central roller 411 and the synchronous roller 412 are both rotatably connected to the clamping claw rod 410. The central roller 411 is slidably set in the first limiting slide groove 206 opened on the side wall of the central slide rail hole 202, and the synchronous roller 412 is slidably set in the second limiting slide groove 207 opened on the side wall of the synchronous slide rail hole 204.

[0065] In particular, refer to Fig.10 Since the synchronous slide rail 203 is fitted with the central slide rail frame 201 , the central roller 411 on each clamping claw rod 410 is abutted against the two synchronous rollers 412 .

[0066] The clamping claw rod 410 slides in the central slide rail hole 202 through the central roller 411, and slides in the synchronous slide rail hole 204 through the synchronous roller 412, so that the clamping claw rod 410 can slide relative to the central slide rail frame 201 and the synchronous slide rail bar 203 in a rolling form, reducing the sliding wear of the clamping claw rod 410; because the central roller 411 and the synchronous roller 412 are both embedded in the clamping claw rod 410, and the central roller 411 is vertically clamped in the first limiting slide groove 206 and the synchronous roller 412 is vertically clamped in the second limiting slide groove 207, the clamping claw rod 410 is not easy to move relative to the central slide rail frame 201 and the synchronous slide rail bar 203 in the vertical direction.

[0067] Specifically, refer to Fig.11 and Fig.12The clamping mechanism includes a push plate 420 fixedly connected to the clamping rod 410, and four push rods 430 are fixedly connected to the push plate 420. The four push rods 430 are commonly connected to a buffer plate 440. The ends of the push rods 430 are slidably arranged in a buffer slide groove 441 opened on the buffer plate 440. A buffer spring 450 is sleeved on the push rod 430. The buffer spring 450 is used to drive the buffer plate 440 to slide away from the push plate 420. An arc-shaped clamping claw 460 is fixedly connected to the buffer plate 440. The arc-shaped clamping claw 460 is adapted to the side wall of the barrel material and is used to clamp on the side wall of the barrel material.

[0068] In particular, refer to Fig.12 In order to prevent the end of the push rod 430 from slipping out of the buffer groove 441, a sliding head is integrally connected to the end of the push rod 430, and the push rod 430 slides in the buffer groove 441 through the sliding head; in order to improve the connection strength between the push rod 430 and the push plate 420, the push rod 430 is integrally connected to a connecting head, and the push rod 430 is fixedly connected to the push plate 420 through the connecting head; wherein, one end of the buffer groove 441 abuts against the connecting head, and the other end abuts against the buffer plate 440.

[0069] When the jaw rod 410 converges to clamp the barrel material, the jaw rod 410 first drives the arc surface jaw 460 to abut against the side wall of the barrel material, and then the jaw rod 410 gradually compresses the buffer spring 450 to buffer the convergence displacement of the jaw rod 410. Finally, the jaw rod 410 squeezes the arc surface jaw 460 on the side wall of the barrel material through the push rod 430, so that the jaw rod 410 is not easy to have a rigid collision with the side wall of the barrel material during convergence clamping.

[0070] Reference Figure 6 , Figure 8 and Fig.11 In order to facilitate the synchronous driving of the lifting frame 320 to lift and the rotation of the track plate 101, the clamping device for barrel material handling also includes a power transmission mechanism, which includes a driving motor 510 fixedly connected to the lifting plate 321, and the output shaft of the driving motor 510 is connected to a double-headed reducer 511, and the double-headed reducer 511 is installed on the lifting plate 321. One of the output shafts of the double-headed reducer 511 is rotatably penetrated on the lifting plate 321 and is fixedly connected with a first synchronous pulley 520. Each lifting column 311 is sleeved with a second synchronous pulley 530, and the second synchronous pulley 530 is threadedly connected to the lifting column 311. The second synchronous pulley 530 is rotatably connected to the lifting plate 321. The first synchronous pulley 520 and all the second synchronous pulleys 530 are commonly wound with a first synchronous belt 540. The driving motor 510 drives the lifting plate 321 to lift relative to the lifting column 311 through the double-headed reducer 511, the first synchronous pulley 520, the first synchronous belt 540 and the second synchronous pulley 530.

[0071] Reference Fig.11 and Fig.13The other output shaft of the double-headed reducer 511 is fixedly connected with a third synchronous pulley 550, and a fourth synchronous pulley 560 is sleeved on the support column 102. The fourth synchronous pulley 560 is rotatably connected to the support column 102 and is fixedly connected to the track plate 101. The third synchronous pulley 550 and the fourth synchronous pulley 560 are jointly wrapped with a second synchronous belt 570. The driving motor 510 drives the track plate 101 to rotate relative to the support column 102 through the double-headed reducer 511, the third synchronous pulley 550, the second synchronous belt 570 and the fourth synchronous pulley 560.

[0072] Among them, refer to Figure 8 and Fig.13 In order to make the support of the third synchronous pulley 550 more stable, the third synchronous pulley 550 is connected to a mounting seat 551, the mounting seat 551 is fixedly connected to the lifting plate 321, and the third synchronous pulley 550 is rotatably connected to the mounting seat 551.

[0073] The driving motor 510 can synchronously drive the first synchronous pulley 520 and the third synchronous pulley 550 to rotate through the double-headed reducer 511. The first synchronous pulley 520 can drive the second synchronous pulley 530 to rotate to drive the lifting frame 320 to rise and fall. The third synchronous pulley 550 can drive the fourth synchronous pulley 560 to rotate to drive the track plate 101 to rotate, so that the track plate 101 and the lifting frame 320 can use one power source, reducing energy consumption.

[0074] Since the driving motor 510 synchronously drives the lifting frame 320 to lift and the track plate 101 to rotate, when the lifting frame 320 descends, the track plate 101 can rotate forward, and when the lifting frame 320 rises, the track plate 101 can reverse. Therefore, under the synchronous drive of the driving motor 510, the movement of the clamping claw rod 410 can adapt to the movement of the lifting frame 320.

[0075] Reference Figure 8 In order to make the lifting column 311 easy to move in the horizontal plane to transfer the position of the barrel material, the lifting column 311 is connected with a horizontal moving structure, which includes a horizontal slide rail 610 and a crossbeam 620. Two horizontal slide rails 610 are symmetrically arranged and both are horizontally arranged. The two ends of the crossbeam 620 are respectively slidably arranged in the two horizontal slide rails 610. The top ends of the two lifting columns 311 are fixedly connected to the crossbeam 620. When the crossbeam 620 slides along the horizontal slide rail 610, it can drive the synchronous opening and closing structure, the vertical lifting structure, the clamping claw structure and the power transmission structure to move in the horizontal direction.

[0076] The implementation principle of the clamping device for barrel material handling of the embodiment of the present application is as follows: when in use, the driving motor 510 is started, and when the driving motor 510 drives the lifting plate 321 to descend and drives the track plate 101 to rotate forward, the track plate 101 drives the clamping rods 410 to open and then converge through the cam track 106 and the slider 108, and under the guidance restriction of the central slide rail frame 201 and the linkage drive of the synchronous slide rail 203, all the clamping rods 410 can be synchronously opened and then synchronously converged, so that the clamping rods 410 can be opened and then synchronously converged. 10 can drive the curved surface clamp 460 to clamp and fix on the side wall of the barrel material. When the driving motor 510 drives the lifting plate 321 to rise and drives the track plate 101 to reverse, the track plate 101 puts the clamp rod 410 in a static aggregation state through the circular track 107 and the slider 108, so that the clamp rod 410 can drive the curved surface clamp 460 to clamp and lift the barrel material, so that the manipulator does not need to set up a vertical accommodating space, so that the truss manipulator can be used in a workplace with narrow top space.

[0077] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A motion state switching mechanism, characterized in that: The invention comprises a track plate (101) and a support column (102) rotatably arranged on the track plate (101); a first track (103), a second track (104) and a third track (105) are provided on the track plate (101); the first track (103) and the second track (104) are combined to form a cam track (106); the second track (104) and the third track (105) are combined to form a circular track (107); the rotation axis of the support column (102) coincides with the axis of the circular track (107); and the first track (103), the second track (104) and the third track (105) are mutually connected in pairs; A slider (108) is slidably disposed in the first track (103), the second track (104) and the third track (105), the slider (108) is used to connect with a moving part slidably disposed in the slide rail, and a switching component (109) for switching the sliding track of the slider (108) is disposed on the track plate (101); When the track plate (101) rotates forwardly relative to the support column (102), the guide slider (108) of the switching assembly (109) always slides in the cam track (106) so that the moving part slides back and forth in the slide rail; when the track plate (101) rotates backwardly relative to the support column (102), the guide slider (108) of the switching assembly (109) always slides in the circular track (107) so that the moving part remains stationary in the slide rail.

2. The motion state switching mechanism according to claim 1, characterized in that: The switching assembly (109) comprises a first guide block (110) and a second guide block (111), the first guide block (110) and the second guide block (111) being respectively hinged at two side edges formed by the first track (103) and the third track (105), the first guide block (110) and the second guide block (111) being close to each other on both sides in an arc shape, and being away from each other on both sides in a straight line shape; A first coil spring (112) is provided at a hinge of the first guide block (110), and the first coil spring (112) is used to drive the first guide block (110) to be clamped in a first switching groove (114) provided on the track plate (101), so that the slider (108) can slide between the first track (103) and the second track (104) from the straight side of the first guide block (110); A second switching groove (115) is provided on the track plate (101), and the second switching groove (115) is used to accommodate the first guide block (110), so that the slider (108) can slide between the second track (104) and the third track (105) from the arc side of the first guide block (110); A second coil spring (113) is provided at the hinge of the second guide block (111), and the second coil spring (113) is used to drive the second guide block (111) to be clamped in a third switching groove (116) provided on the track plate (101), so that the slider (108) can slide between the second track (104) and the first track (103) from the arc side of the second guide block (111); A fourth switching groove (117) is provided on the track plate (101), and the fourth switching groove (117) is used to accommodate the second guide block (111) so that the slider (108) can slide between the first track (103) and the second track (104) from the straight side of the second guide block (111).

3. The motion state switching mechanism according to claim 1, characterized in that: The track plate (101) comprises a process plate (118) and a mounting plate (119), one side of the process plate (118) is fixedly connected to one side of the mounting plate (119), and the first track (103), the second track (104) and the third track (105) are all arranged on the process plate (118) and all pass through the thickness of the process plate (118).

4. A synchronous opening and closing structure, characterized in that: There are two use states, the first use state is used to drive three or more surrounding moving parts to open and gather synchronously and cyclically alternately, and the second use state is used to drive three or more surrounding moving parts to always be in a synchronously gathered state, and the synchronous opening and closing structure includes a synchronous opening and closing mechanism and the motion state switching mechanism described in claim 1; The synchronous opening and closing mechanism comprises a central slide rail frame (201), the central slide rail frame (201) is provided with more than three central slide rail holes (202), the moving parts slide through the central slide rail holes (202) in a one-to-one corresponding manner, and the sliding direction of the moving parts is the direction approaching or moving away from the center position of the central slide rail frame (201); Along the circumferential direction of the moving parts, from one of the moving parts to the last moving part, a synchronous slide rail (203) is provided between two adjacent moving parts, each synchronous slide rail (203) is provided with two synchronous slide rail holes (204), and the two moving parts slide through the two synchronous slide rail holes (204) respectively, and the sliding direction of the two moving parts is a direction of approaching or moving away from each other; Each synchronous slide rail (203) is slidably connected to a synchronous guide bar (205), the synchronous guide bar (205) is connected to the central slide rail frame (201), and the synchronous guide bar (205) is used to guide the sliding direction of the synchronous slide rail (203) relative to the central slide rail frame (201). When the moving part moves toward a center position away from the central slide rail frame (201), the synchronous guide bar (205) guides the synchronous slide rail (203) to move toward a center position away from the central slide rail frame (201); The support column (102) is connected to the center position of the central slide rail frame (201), and the slider (108) is connected to one of the moving parts. When the track plate (101) rotates forward relative to the support column (102), the synchronous opening and closing structure is in a first use state, and when the track plate (101) rotates backward relative to the support column (102), the synchronous opening and closing structure is in a second use state.

5. A clamping device for barrel material handling, characterized in that: It includes a vertical lifting structure, a clamping claw structure and the synchronous opening and closing structure as described in claim 4 above; The vertical lifting structure includes a fixed frame (310) and a lifting frame (320); The lifting frame (320) is slidably disposed on the fixed frame (310), and the fixed frame (310) provides lifting support for the lifting frame (320); The central slide rail frame (201) is connected to the lifting frame body (320); The clamping structure comprises a clamping rod (410) and a clamping mechanism. At least three clamping rods (410) and three clamping mechanisms are provided, and they correspond to each other. All the clamping rods (410) are arranged around each other. The clamping mechanism is connected to one end of the clamping rod (410) and is used to clamp on the side wall of the barrel material. The movable part is the clamping rod (410). The first use state of the synchronous opening and closing structure corresponds to the descending process of the lifting frame (320). During the descending process of the lifting frame (320), the synchronous opening and closing structure causes all the clamping claw rods (410) to first open synchronously and then converge synchronously. The second use state of the synchronous opening and closing structure corresponds to the ascending process of the lifting frame (320). During the ascending process of the lifting frame (320), the synchronous opening and closing structure is used to keep all the clamping claw rods (410) in a converged state.

6. The clamping device for barrel material handling according to claim 5, characterized in that: The fixed frame (310) comprises at least one lifting column (311), all the lifting columns (311) are arranged in a surrounding manner, and the lifting frame (320) is slidably arranged on all the lifting columns (311).

7. The clamping device for barrel material handling according to claim 6, characterized in that: The bottom end of the lifting column (311) is connected to a guide slide plate (312), and the lifting frame (320) is connected to at least one side plate (330). The side plates (330) correspond to the lifting columns (311) one by one, and each side plate (330) is connected to a guide rail (340). The guide slide plate (312) is slidably arranged in the guide rail (340).

8. The clamping device for barrel material handling according to claim 5, characterized in that: The clamping claw rod (410) is embedded with a central roller (411) and a plurality of synchronous rollers (412). The number of the synchronous rollers (412) is consistent with the number of the synchronous slide rail holes (204) penetrated by the clamping claw rod (410), and the synchronous rollers (412) on the clamping claw rod (410) correspond one to one with the synchronous slide rail holes (204) penetrated by the clamping claw rod (410). The central roller (411) and the synchronous roller (412) are both rotatably connected to the clamping claw rod (410). The central roller (411) is slidably arranged in a first limiting slide groove (206) opened on the side wall of the central slide rail hole (202), and the synchronous roller (412) is slidably arranged in a second limiting slide groove (207) opened on the side wall of the synchronous slide rail hole (204).

9. The clamping device for barrel material handling according to claim 5, characterized in that: The clamping mechanism comprises a push plate (420) connected to a clamping rod (410), the push plate (420) is connected to a push rod (430), the push rod (430) is connected to a buffer plate (440), the end of the push rod (430) is slidably arranged in a buffer slide groove (441) provided on the buffer plate (440), a buffer spring (450) is sleeved on the push rod (430), the buffer spring (450) is used to drive the buffer plate (440) to slide away from the push plate (420), and the buffer plate (440) is connected to an arc surface clamping jaw (460), the arc surface clamping jaw (460) is adapted to the side wall of the barrel material, and is used to clamp on the side wall of the barrel material.

10. The clamping device for barrel material handling according to claim 5, characterized in that: The utility model also comprises a power transmission structure, wherein the power transmission structure comprises a driving motor (510) connected to the lifting frame (320), the driving motor (510) being connected to a double-headed reducer (511), one of the output shafts of the double-headed reducer (511) being connected to a first synchronous belt pulley (520), each lifting column (311) being sleeved with a second synchronous belt pulley (530), the second synchronous belt pulley (530) being threadedly connected to the lifting column (311), the second synchronous belt pulley (530) being rotatably connected to the lifting frame (320), and a first synchronous belt (540) being wound around the first synchronous belt pulley (520) and all the second synchronous belt pulleys (530); Another output shaft of the double-head reducer (511) is connected to a third synchronous pulley (550), a fourth synchronous pulley (560) is sleeved on the support column (102), the fourth synchronous pulley (560) is rotatably connected to the support column (102) and is fixedly connected to the track plate (101), and a second synchronous belt (570) is commonly wound around the third synchronous pulley (550) and the fourth synchronous pulley (560).

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