Multi-station variable-pitch manipulator

Abstract

The invention relates to the technical field of clamping devices, and discloses a multi-station variable-pitch manipulator. The multi-station variable-pitch manipulator comprises a supporting plate, a driving mechanism, a first displacement assembly, a second displacement assembly and a variable-pitch plate. The output end of the driving mechanism is connected with the first displacement assembly, so that the output end of the first displacement assembly reciprocates in the first direction; the second displacement assembly comprises a first sliding rail, a plurality of sliding rods and clamping jaws arranged on the sliding rods. The first sliding rail is arranged on the supporting plate and extends in the second direction, the multiple sliding rods are installed on the first sliding rail at intervals and can reciprocate in the second direction, and the clamping jaws are installed at the ends of the sliding rods. The variable-pitch plate is provided with a plurality of sliding groove assemblies, the sliding rods are connected with the sliding groove assemblies in a one-to-one correspondence mode, the output end of the first displacement assembly is connected with the variable-pitch plate so as to drive the variable-pitch plate to reciprocate in the first direction, meanwhile, the sliding groove assemblies push the sliding rods to reciprocate in the second direction, and therefore the distance between the clamping jaws is adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of clamping devices, in particular to a multi-station variable-distance manipulator. Background Art

[0002] In the process of product manufacturing, a multi-station manipulator (with multiple clamping stations, i.e., claws) is needed to perform material gripping and turnover to improve production efficiency. The multiple claws in the existing multi-station manipulator each correspond to an independent drive unit, so as to adjust the distance between the claws to correspond to materials of different sizes, resulting in a large overall size and weight of the manipulator, high cost, and complex structure. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-station variable-distance manipulator to solve the problems in the above-mentioned background technology that each gripper corresponds to an independent drive unit, resulting in a large overall size and weight of the manipulator and a complex structure.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A multi-station variable-distance manipulator, comprising:

[0006] Support plate;

[0007] A driving mechanism, wherein the driving mechanism is arranged on the supporting plate;

[0008] A first displacement assembly, which is disposed on the support plate and extends along a first direction; an output end of the driving mechanism is connected to the first displacement assembly so that the output end of the first displacement assembly reciprocates along the first direction;

[0009] A second displacement assembly, the second displacement assembly comprises a first slide rail, a plurality of slide bars, and a clamping claw arranged on each of the slide bars; the first slide rail is arranged on the support plate and extends along a second direction, a plurality of the slide bars are installed on the first slide rail at intervals and can reciprocate along the second direction, the clamping claw is installed on the end of each of the slide bars, and the second direction is perpendicular to the first direction;

[0010] The pitch-changing plate is provided with a plurality of slide assemblies, and the plurality of slide assemblies are arranged at intervals along the second direction. Along the first direction, one end of each slide assemblies facing the clamping jaws is the first end, and the other end is the second end, and the spacing between the first ends of each adjacent two slide assemblies along the second direction is smaller than the spacing between the second ends thereof along the second direction, or the spacing between the first ends of each adjacent two slide assemblies along the second direction is larger than the spacing between the second ends thereof along the second direction, and the slide rods are connected to the slide assemblies in a one-to-one correspondence, and the output end of the first displacement assembly is connected to the pitch-changing plate to drive the pitch-changing plate to reciprocate along the first direction, and at the same time, the slide rods reciprocate along the second direction under the push of the slide assemblies, so as to adjust the spacing between the clamping jaws. Through this arrangement, when the spacing between the first ends of the slide assemblies is smaller than the spacing between the second ends, the first ends of the slide assemblies are close to each other in the second direction, and the second ends thereof are far away from each other in the second direction; when the spacing between the first ends of the slide assemblies is larger than the spacing between the second ends, the first ends of the slide assemblies are far away from each other in the second direction, and the second ends thereof are close to each other in the second direction. When the pitch-changing plate reciprocates along the first direction driven by the first displacement assembly, the slide slot assembly on the pitch-changing plate applies a force along the second direction to the slide rod, causing it to move along the first slide rail, thereby causing the clamping claws at the ends of the slide rod to move closer to or farther from each other, thereby achieving variable pitch adjustment of the clamping claws.

[0011] Furthermore, the slide assembly includes a plurality of first slides and a plurality of connectors; the extension direction of each first slide has an angle with the first direction, and along the second direction, the angle between the extension direction of the first slide and the first direction gradually increases or decreases, and each first slide is connected to a corresponding slide bar through a connector. Through this arrangement, the first slide has a projection length along the first direction and also has a projection length along the second direction. When the pitch-changing plate reciprocates along the first direction, the slide bar connected to the first slide reciprocates along the second direction on the first slide rail under the push of the pitch-changing plate, thereby realizing the spacing adjustment between the clamping jaws.

[0012] Further, the slide assembly includes a first slide, a second slide and a connecting piece; the extension direction of the first slide has an angle with the first direction, the extension direction of the second slide is parallel to the first direction, the first slide is distributed on both sides of the second slide, and is symmetrically arranged relative to the center line of the second slide along the first direction, and the first slide and the second slide are both connected to the corresponding slide rod through the connecting piece. Through this arrangement, the extension direction of the first slide has an angle with the first direction, and the extension direction of the second slide is parallel to the first direction, that is, the first slide has a projection length along the first direction and a projection length along the second direction, and the second slide only has a projection length along the second direction, the first slide is distributed on both sides of the second slide, when the pitch change plate reciprocates along the first direction, the slide rod connected to the first slide reciprocates along the second direction on the first slide rail under the push of the pitch change plate, and the slide rod connected to the second slide remains stationary, and the spacing between the clamping jaws can also be adjusted in the same way.

[0013] Furthermore, the connecting member includes a support column and a cam; the first end of the support column is fixed to the sliding rod, the cam is rotatably arranged at the second end of the support column, and the cam is located in a first sliding groove. When the pitch variable plate moves back and forth along the first direction, the cam rolls in the first sliding groove, thereby causing the support column to drive the sliding rod to move back and forth along the second direction.

[0014] Furthermore, the first displacement assembly includes a screw module; the screw module includes a screw and a connecting block; the screw extends along the first direction and is rotatably arranged on the support plate around its own axis, the connecting block is threadedly connected to the screw, and the pitch-changing plate is connected to the connecting block. The screw module has a simple structure and can be low in height, and can drive the pitch-changing plate to reciprocate along the first direction.

[0015] Furthermore, the first displacement assembly further includes a sliding module; the sliding module includes a second slide rail and a slider; the second slide rail is arranged on the support plate and extends along the first direction, one end surface of the slider is slidably arranged on the second slide rail, and the other end surface of the slider is connected to the pitch-changing plate. The stability of the pitch-changing plate during movement can be improved by providing the sliding module.

[0016] Furthermore, the driving mechanism includes a motor and a transmission member, and the output shaft of the motor is connected to the screw rod in the first displacement assembly through the transmission member.

[0017] Furthermore, it also includes a first pulley, a second pulley and a fixed plate; the fixed plate is arranged on the support plate, the two ends of the screw rod are rotatably arranged on the fixed plate, the output shaft of the motor is connected to the first pulley, one end of the screw rod is connected to the second pulley, and the transmission member is a synchronous belt, through which the first pulley and the second pulley are connected. Through this arrangement, the motor drives the screw rod to rotate through the synchronous belt, so that the pitch-variable plate can generate displacement along the first direction.

[0018] Furthermore, it also includes an adapter seat, which is arranged at the end of each of the sliding rods. The clamping jaw is connected to the sliding rod through the adapter seat to keep the clamping jaw away from the support plate and the pitch change plate, thereby preventing the support plate and the pitch change plate from affecting the operation of the clamping jaw.

[0019] Furthermore, the adapter seat includes a first side plate, a second side plate and a bottom plate; the first side plate and the second side plate are arranged opposite to each other, one end of the bottom plate is connected to the first side plate, and the other end thereof is connected to the second side plate, the first side plate is arranged at the end of the sliding rod, and the second side plate is used to install the clamp.

[0020] The present invention has the following advantages over the prior art:

[0021] 1. The multi-station variable pitch manipulator of the present invention has an output end of a first displacement assembly that can reciprocate along a first direction under the drive of a driving mechanism; a second displacement assembly that includes a first slide rail, a slide rod, and a clamping claw, wherein the first slide rail extends along a second direction, a plurality of slide rods can be slidably mounted on the first slide rail, and the clamping claw is mounted on the end of the slide rod; a variable pitch plate is provided, and a plurality of slide slot assemblies are provided on the variable pitch plate, and along the first direction, one end of each slide slot assembly facing the clamping claw is a first end, and the other end is a second end, and the spacing between the first ends of each adjacent two slide slot assemblies along the second direction is smaller than the spacing between the second ends thereof along the second direction (i.e., the distance between the first ends of the slide slot assemblies is smaller than the distance between the second ends thereof along the second direction (i.e., the distance between the first ends of the slide slot assemblies is smaller than the distance between the second ends thereof). The first ends of the components are close to each other, and the second ends are far away from each other), or the spacing between the first ends of each adjacent two slide slot components along the second direction is greater than the spacing between the second ends along the second direction (that is, the first ends of the slide slot components are far away from each other, and the second ends are close to each other), and the slide rods and the slide slot components are connected one by one; when the output end of the first displacement component drives the variable pitch plate to reciprocate along the first direction, the slide slot component will apply a force along the second direction to the corresponding slide rod, so that the slide rod can move along the first slide rail, so that the clamping jaws on each slide rod are close to or away from each other, thereby realizing the variable pitch adjustment between each clamping jaw. The present invention only needs one driving mechanism, and the spacing adjustment between each clamping jaw can be realized under the cooperation of the driving mechanism, the first displacement component, the second displacement component and the variable pitch plate. The structure is simple and reasonable, the manufacturing and use costs are low, and good economic benefits can be achieved.

[0022] 2. The specific arrangement of the slideway assembly of the multi-station variable pitch manipulator of the present invention is not limited: for example, the slideway assembly includes a plurality of first slideways and a plurality of connecting members, the extension direction of each first slideway has an angle with the first direction, and along the second direction, the angle between the extension direction of the first slideway and the first direction gradually increases or decreases, and the first slideway is connected to the slide rod through the connecting member. Through this arrangement, the first slideway has a projection length along the first direction and a projection length along the second direction. When the variable pitch plate reciprocates along the first direction, the slide rod connected to the first slideway reciprocates along the second direction on the first slide rail under the push of the variable pitch plate, thereby realizing the spacing adjustment between each clamping claw. In addition, the slide assembly includes a first slide, a second slide and a connecting piece, wherein the extension direction of the first slide has an angle with the first direction, and the extension direction of the second slide is parallel to the first direction, that is, the first slide has a projection length along the first direction and a projection length along the second direction, and the second slide only has a projection length along the second direction, the first slide is distributed on both sides of the second slide, and the first slide and the second slide are both connected to the corresponding slide rod through the connecting piece. When the pitch change plate reciprocates along the first direction, the slide rod connected to the first slide reciprocates along the second direction on the first slide rail under the push of the pitch change plate, while the slide rod connected to the second slide remains stationary, and the spacing between the clamps can also be adjusted through this setting. It can be seen that the slide assembly in the present invention can be flexibly arranged according to the on-site conditions, and has a very high market application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an isometric view of a multi-station variable-pitch manipulator in an embodiment of the present invention;

[0024] Figure 2 It is a front view of the multi-station variable pitch manipulator in the embodiment of the present invention without the variable pitch plate;

[0025] Figure 3 This is an isometric view of the multi-station variable pitch manipulator in the embodiment of the present invention without the variable pitch plate;

[0026] In the figure: 1. support plate; 2. first slide rail; 3. slide rod; 4. clamping claw; 5. pitch change plate; 501. first slide slot; 502. second slide slot; 503. connecting piece; 504. support column; 505. cam; 6. lead screw; 7. connecting block; 8. second slide rail; 9. slider; 10. motor; 11. first pulley; 12. second pulley; 13. fixed plate; 14. synchronous belt; 15. adapter; 1501. first side plate; 1502. second side plate; 1503. bottom plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that, in the description of the present invention, the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0029] In addition, it should be understood that for the convenience of description, the sizes of various components shown in the drawings are not drawn according to the actual proportional relationship.

[0030] It should be noted that like reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined or described in one drawing, it will not need to be further discussed and described in detail in the description of the subsequent drawings.

[0031] Embodiment 1:

[0032] like Figures 1 to 3 As shown, the present invention provides a multi-station variable-distance manipulator, comprising:

[0033] A support plate 1, a driving mechanism, a first displacement assembly, a second displacement assembly and a variable pitch plate, wherein the support plate 1 is used to connect with the end of an external transfer device so that the manipulator can achieve overall spatial movement.

[0034] The driving mechanism and the first displacement assembly are both mounted on the support plate 1. The first displacement assembly extends along a first direction (eg Figure 1 As shown, in this embodiment, the first direction is a vertical direction); the output end of the driving mechanism is connected to the first displacement assembly to drive the output end of the first displacement assembly to reciprocate along the first direction.

[0035] The second displacement assembly includes a first slide rail 2, a plurality of slide rods 3, and a clamping claw disposed on each of the slide rods 3; the first slide rail 2 is disposed on the support plate 1 and moves along the second direction (such as Figure 1As shown, the second direction in this embodiment is a horizontal direction perpendicular to the vertical direction), and a plurality of the slide bars 3 are installed at intervals on the first slide rail 2, and can reciprocate along the second direction, and the clamp 4 is installed at the end of each of the slide bars 3; in order to improve the stability of the slide bar 3 during the sliding process, a plurality of groups of first slide rails 2 are arranged in this embodiment, and the plurality of groups of first slide rails 2 all extend along the second direction and have intervals in the first direction.

[0036] The pitch-changing plate 5 is provided with a plurality of slide slot assemblies, and the plurality of slide slot assemblies are arranged at intervals along the second direction. Along the first direction, one end of each slide slot assembly facing the clamping jaw 4 is the first end, and the other end is the second end. The spacing between the first ends of each adjacent slide slot assembly along the second direction is smaller than the spacing between the second ends thereof along the second direction, or the spacing between the first ends of each adjacent slide slot assembly along the second direction is larger than the spacing between the second ends thereof along the second direction. The slide bar 3 is connected to the slide slot assembly in a one-to-one correspondence. The output end of the first displacement assembly is connected to the pitch-changing plate 5 to drive the pitch-changing plate 5 to reciprocate along the first direction. At the same time, under the push of the slide slot assembly, the slide bar 3 reciprocates along the second direction, thereby adjusting the spacing between the clamping jaws. When the spacing between the first ends of the slide slot assemblies is smaller than the spacing between the second ends, the first ends of the slide slot assemblies are close to each other in the second direction, and the second ends thereof are far away from each other in the second direction; when the spacing between the first ends of the slide slot assemblies is larger than the spacing between the second ends, the first ends of the slide slot assemblies are far away from each other in the second direction, and the second ends thereof are close to each other in the second direction. Through this arrangement, when the pitch-variable plate 5 moves back and forth in the first direction driven by the first displacement assembly, the slideway assembly on the pitch-variable plate 5 applies a force in the second direction to the slide bar, causing it to move along the first slide rail, thereby causing the clamps at the ends of the slide bar to move closer to or farther from each other, thereby achieving the variable pitch adjustment of the clamps. The multi-station variable pitch manipulator in this embodiment only needs one driving mechanism, and the spacing between the clamps can be adjusted under the cooperation of the driving mechanism, the first displacement assembly, the second displacement assembly, and the pitch-variable plate. The structure is simple and reasonable, the manufacturing and use costs are low, and good economic benefits can be achieved.

[0037] Preferably, if Figure 1-Figure 3As shown, the slide groove assembly includes a first slide groove 501, a second slide groove 502 and a connecting piece 503; the extension direction of the first slide groove 501 has an angle with the first direction, the extension direction of the second slide groove 502 is parallel to the first direction, the first slide groove 501 is distributed on both sides of the second slide groove 502, and is symmetrically arranged relative to the center line of the second slide groove 502 along the first direction, the first slide groove 501 and the second slide groove 502 are both connected to the corresponding slide rod 3 through a connecting piece, and the spacing between the first ends of each adjacent two first slide grooves 501 along the second direction is smaller than the spacing between their second ends along the second direction, and the spacing between the first ends of the first slide groove 501 and the second slide groove 502 close to the second slide groove 502 along the second direction is smaller than the spacing between their second ends along the second direction. Through this arrangement, the first slide groove 501 has a projection length along the first direction and a projection length along the second direction, the second slide groove 502 only has a projection length along the second direction, the first slide groove 501 is distributed on both sides of the second slide groove 502, when the pitch variable plate 5 reciprocates along the first direction, the slide rod connected to the first slide groove 501 reciprocates along the second direction on the first slide rail 2 under the push of the pitch variable plate 5, while the slide rod 3 connected to the second slide groove 501 remains stationary, and the spacing between the clamping jaws can also be adjusted in the same way.

[0038] Preferably, the connecting member 503 includes a support column 504 and a cam 505; the first end of the support column 504 is fixed to the slide bar 3, the cam 505 is rotatably arranged at the second end of the support column 504, and the cam 505 is located in the first slide groove 2. When the pitch-changing plate 5 reciprocates along the first direction, the cam 505 rolls in the first slide groove 501, so that the support column 504 drives the slide bar 3 to reciprocate along the second direction. Through this arrangement, the sliding cooperation of the cam and the slide groove is cleverly utilized to achieve the variable pitch adjustment of the clamping jaw.

[0039] This embodiment also includes an adapter seat 15, which is arranged at the end of each of the slide bars 3. The clamping jaw 4 is connected to the slide bar 3 through the adapter seat 15 so that the clamping jaw 4 is away from the support plate 1 and the variable pitch plate 5, so that the clamping jaw 4 has a larger working space, thereby preventing the support plate 1 and the variable pitch plate 5 from affecting the operation of the clamping jaw.

[0040] Specifically, the adapter 15 includes a first side plate 1501, a second side plate 1502 and a bottom plate 1503; the first side plate 1501 and the second side plate 1502 are arranged opposite to each other, one end of the bottom plate 1503 is connected to the first side plate 1501, and the other end thereof is connected to the second side plate 1502, the first side plate 1501 is arranged at the end of the slide bar 3, and the second side plate 1502 is used to install the clamping claw 4. The adapter 15 has a simple structure and can keep the clamping claw 4 away from the support plate 1 and the pitch-changing plate 5 to obtain a larger working space.

[0041] In this embodiment, the first displacement assembly includes a screw module; the screw module includes a screw 6 and a connecting block 7; the screw 6 extends in a first direction and is rotatably arranged on the support plate 1 around its own axis, the connecting block 7 is threadedly connected to the screw 6, and the pitch plate 5 is connected to the connecting block. The screw module has a simple structure and can be low, and can drive the pitch plate to move back and forth along the first direction. The first displacement assembly also includes a sliding module; the sliding module includes a second slide rail 8 and a slider 9; the second slide rail 8 is arranged on the support plate 1 and extends in the first direction, one end face of the slider 9 is slidably arranged on the second slide rail 8, and the other end face of the slider 9 is connected to the pitch plate 5. The stability of the movement process of the pitch plate 5 can be improved by setting the sliding module. In this embodiment, the number of the second slide rails 8 is two, which are respectively located on both sides of the pitch plate 5 to improve the sliding stability of the pitch plate 5.

[0042] In this embodiment, the driving mechanism includes a motor 10, a transmission member, a first pulley 11, a second pulley 12 and a fixed plate 13, wherein the fixed plate 13 is arranged on the support plate 1, and both ends of the screw rod 6 are rotatably arranged on the fixed plate 13, the output shaft of the motor 10 is connected to the first pulley 11, one end of the screw rod 6 is connected to the second pulley 12, and the transmission member is a synchronous belt 14, through which the first pulley 11 and the second pulley 12 are connected. The motor 10 drives the synchronous belt 14 to rotate, thereby rotating the screw rod 6, and causing the pitch-changing plate 5 to reciprocate along the first direction.

[0043] Specific work:

[0044] like Figure 1 As shown, in this embodiment, the spacing between the first ends of each two adjacent slide slot assemblies along the second direction is smaller than the spacing between the second ends thereof along the second direction. The slide slot assembly comprises a first slide slot 501, a second slide slot 502 and a connecting member 503, the extension direction of the first slide slot 501 and the first direction have an angle, the extension direction of the second slide slot 502 is parallel to the first direction, the first slide slot 501 is distributed on both sides of the second slide slot 502, and is symmetrically arranged relative to the center line of the second slide slot 502 along the first direction, and the first slide slot 501 and the second slide slot 502 are both connected to the corresponding slide bar 3 through the connecting member.

[0045] The motor works, driving the synchronous belt 14 to rotate, thereby rotating the screw rod 6 and reciprocating the pitch plate 5 in the first direction. When the pitch plate 5 moves upward, the distance between the clamping jaws at the end of the slide rod gradually decreases, and when the pitch plate 5 moves downward, the distance between the clamping jaws at the end of the slide rod gradually increases, thereby achieving the variable pitch adjustment between the clamping jaws.

[0046] Embodiment 2:

[0047] This embodiment is the same as Embodiment 1 except for the following technical solutions:

[0048] In this embodiment, the slide assembly includes a plurality of first slides 501 and a plurality of connectors 503; the extension direction of each first slide 501 has an angle with the first direction, and along the second direction, the angle between the extension direction of the first slide 501 and the first direction gradually increases or decreases, and each first slide 501 is connected to the corresponding slide bar 3 through the connector 503. Through this arrangement, the first slide 501 has a projection length along the first direction and also has a projection length along the second direction. When the pitch-changing plate 5 reciprocates along the first direction, the slide bar 3 connected to the first slide 501 reciprocates along the second direction on the first slide rail 2 under the push of the pitch-changing plate 5, thereby realizing the spacing adjustment between the clamping jaws.

[0049] In actual applications, there is no restriction on the specific layout of the slide assembly, and it only needs to be ensured that: the spacing between the first ends of each adjacent two slide assemblies along the second direction is smaller than the spacing between the second ends thereof along the second direction, or the spacing between the first ends of each adjacent two slide assemblies along the second direction is larger than the spacing between the second ends thereof along the second direction, because through this limitation "the first ends of the slide assemblies are close to each other in the second direction, and the second ends thereof are far away from each other in the second direction" or "the first ends of the slide assemblies are far away from each other in the second direction, and the second ends thereof are close to each other in the second direction", it can be ensured that when the variable pitch plate 5 moves back and forth along the first direction driven by the first displacement assembly, the slide assembly on the variable pitch plate 5 will apply a force along the second direction to the slide rod, causing it to move along the first slide rail, thereby causing the clamping claws at the ends of the slide rod to approach or move away from each other, thereby realizing the variable pitch adjustment of the clamping claws.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-station variable-distance manipulator, characterized in that: include: Support plate; A driving mechanism, wherein the driving mechanism is arranged on the supporting plate; A first displacement assembly, which is disposed on the support plate and extends along a first direction; an output end of the driving mechanism is connected to the first displacement assembly so that the output end of the first displacement assembly reciprocates along the first direction; A second displacement assembly, the second displacement assembly comprises a first slide rail, a plurality of slide bars, and a clamping claw arranged on each of the slide bars; the first slide rail is arranged on the support plate and extends along a second direction, a plurality of the slide bars are installed on the first slide rail at intervals and can reciprocate along the second direction, the clamping claw is installed on the end of each of the slide bars, and the second direction is perpendicular to the first direction; A pitch variable plate; the pitch variable plate is provided with a plurality of slide slot assemblies, and the plurality of slide slot assemblies are spaced apart along the second direction. Along the first direction, one end of each slide slot assembly facing the clamping jaw is the first end, and the other end is the second end. Moreover, the spacing between the first ends of each adjacent two slide slot assemblies along the second direction is smaller than the spacing between their second ends along the second direction, or the spacing between the first ends of each adjacent two slide slot assemblies along the second direction is larger than the spacing between their second ends along the second direction. The sliding rod is connected to the slide slot assemblies in a one-to-one correspondence, and the output end of the first displacement assembly is connected to the pitch variable plate to drive the pitch variable plate to reciprocate along the first direction. At the same time, the sliding rod reciprocates along the second direction under the push of the slide slot assembly, thereby adjusting the spacing between the clamping jaws.

2. The multi-station variable-distance manipulator according to claim 1 is characterized in that: The slide assembly includes multiple first slides and multiple connecting members; the extension direction of each first slide has an angle with the first direction, and along the second direction, the angle between the extension direction of the first slide and the first direction gradually increases or decreases, and each first slide is connected to the corresponding slide rod through a connecting member.

3. The multi-station variable-distance manipulator according to claim 1, characterized in that: The slide assembly includes a first slide, a second slide and a connecting piece; the extension direction of the first slide has an angle with the first direction, the extension direction of the second slide is parallel to the first direction, the first slide is distributed on both sides of the second slide, and is symmetrically arranged relative to the center line of the second slide along the first direction, and the first slide and the second slide are both connected to the corresponding slide rod through the connecting piece.

4. The multi-station variable-distance manipulator according to claim 2, characterized in that: The connecting member includes a support column and a cam; the first end of the support column is fixed to the sliding rod, the cam is rotatably arranged at the second end of the support column, and the cam is located in a first sliding groove. When the pitch variable plate reciprocates along the first direction, the cam rolls in the first sliding groove.

5. The multi-station variable-distance manipulator according to claim 1, characterized in that: The first displacement assembly includes a screw module; the screw module includes a screw and a connecting block; the screw extends along a first direction and is rotatably arranged on a support plate around its own axis, the connecting block is threadedly connected to the screw, and the pitch change plate is connected to the connecting block.

6. The multi-station variable-distance manipulator according to claim 5, characterized in that: The first displacement assembly also includes a sliding module; the sliding module includes a second slide rail and a slider; the second slide rail is arranged on the support plate and extends along the first direction, one end surface of the slider is slidably arranged on the second slide rail, and the other end surface of the slider is connected to the variable pitch plate.

7. The multi-station variable-distance manipulator according to claim 6, characterized in that: The driving mechanism comprises a motor and a transmission member, and the output shaft of the motor is connected to the lead screw in the first displacement assembly through the transmission member.

8. The multi-station variable-distance manipulator according to claim 7, characterized in that: It also includes a first pulley, a second pulley and a fixed plate; the fixed plate is arranged on the support plate, and both ends of the screw rod are rotatably arranged on the fixed plate, the output shaft of the motor is connected to the first pulley, and one end of the screw rod is connected to the second pulley, and the transmission member is a synchronous belt, through which the first pulley and the second pulley are connected.

9. The multi-station variable-distance manipulator according to claim 1, characterized in that: It also includes an adapter seat, which is arranged at the end of each of the slide bars. The clamping jaws are connected to the slide bars through the adapter seat to keep the clamping jaws away from the support plate and the pitch change plate, thereby preventing the support plate and the pitch change plate from affecting the work of the clamping jaws.

10. The multi-station variable-distance manipulator according to claim 9, characterized in that: The adapter seat includes a first side plate, a second side plate and a bottom plate; the first side plate and the second side plate are arranged opposite to each other, one end of the bottom plate is connected to the first side plate, and the other end is connected to the second side plate, the first side plate is arranged at the end of the sliding rod, and the second side plate is used to install the clamp.

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