Multi-station wire coil transfer device

Abstract

The invention discloses a multi-station wire coil transfer device, and relates to the technical field of wire coil transfer for metal wire stranding machines, the multi-station wire coil transfer device comprises a first support frame, a second support frame sliding along the first support frame, a clamping transfer mechanism used for clamping and transporting a wire coil, a first walking mechanism and a second walking mechanism; the first walking mechanism is arranged on the second supporting frame and used for driving the second supporting frame to transversely move along the first supporting frame. The second walking mechanism is arranged on the clamping and transferring mechanism. According to the invention, the clamping jaw is driven by the cooperation of the first walking mechanism and the second walking mechanism to move in two mutually perpendicular directions in the same plane, so that wire coils on a stranding machine can be conveniently transferred and arranged to different stations in different directions, the occupied positions of the wire coils are reasonably arranged, the production environment is effectively improved, the labor intensity is saved, and the production efficiency is improved. The production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of wire drum transfer for a metal wire stranding machine, and in particular to a multi-station wire drum transfer device. Background Art

[0002] Frame type copper wire shielding stranding machine is also called frame stranding machine. Frame stranding machine is a device that twists multiple copper wires or other metal wires into one strand through a specific mechanism. It is widely used in the wire and cable industry, especially in the production process of high-strength and high-quality electrical cables.

[0003] During the cable stranding process, the frame stranding machine is loaded with multiple rows of wire drums inside. Metal wires of corresponding specifications or types are wound around each wire drum. The metal wires are twisted together through rotation and other means. During the stranding process, if the wire drum becomes empty, it is necessary to remove the wire drum and replace it with a new one. The removed wire drum or the wire drum to be loaded is transported and arranged by the conveying and transfer device.

[0004] The shortcomings of the existing wire drum transfer and conveying device for twisting machines are that when the wire drum used by the existing twisting machine is removed from the twisting machine, the existing transfer and conveying device generally adopts a linear crawler to continuously arrange the wire drums in one direction. Since a large number of wire drums are used in a large twisting machine, continuous arrangement along one direction will result in a long distribution line, which cannot reasonably utilize the space occupied by the production site, and the wire drums distributed along a long line in one direction may require manual long-distance transportation work, thereby generating some excessive labor input, resulting in production inconvenience and reduced production efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-station wire drum transfer device to solve the technical problem in the prior art that the wire drum transportation of the stranding machine is distributed along one direction, resulting in a long distribution line and inability to reasonably utilize the space occupied by the production site.

[0006] The technical problem to be solved by the present invention can be achieved by the following technical solutions:

[0007] A multi-station wire drum transfer device comprises a first support frame, a second support frame sliding along the first support frame, a clamping and transfer mechanism for clamping and transporting wire drums, and further comprises:

[0008] A first walking mechanism and a second walking mechanism; the first walking mechanism is arranged on the second supporting frame, and the first walking mechanism is used to drive the second supporting frame to move laterally along the first supporting frame; the second walking mechanism is arranged on the clamping and transferring mechanism, and the second walking mechanism is used to drive the clamping and transferring mechanism to move laterally along the second supporting frame, and the moving directions of the second supporting frame and the clamping and transferring mechanism are perpendicular to each other in the same plane.

[0009] As a further solution of the present invention: the first walking mechanism includes supporting guide rails, V-shaped guide wheels, flat guide wheels and an electric-driven rolling mechanism, the supporting guide rails are provided with two groups, and are respectively fixedly connected to both sides of the first supporting frame, the V-shaped guide wheels are rotatably connected to one side of the second supporting frame, and the flat guide wheels are rotatably connected to the other side of the second supporting frame, one group of the supporting guide rails is a V-shaped guide rail, and is mated with the V-shaped guide wheel, and the other group of the supporting guide rails is a plane guide rail, and is mated with the flat guide wheel, and the electric-driven roller mechanism is mated between the supporting guide rails and the second supporting frame.

[0010] As a further solution of the present invention: the electric drive roller mechanism includes a driving gear, a rack and a first dual-axis motor, the first dual-axis motor is fixedly connected to the second support frame, two driving gears are provided, and are coaxially connected to the corresponding main shafts of the first dual-axis motor respectively, two racks are provided, and are respectively arranged on the support guide rails on both sides of the first support frame, and the driving gear is meshed with the rack.

[0011] As a further solution of the present invention: each group of the supporting guide rails includes two guide rail parts, which are symmetrically distributed up and down, and two groups of the V-shaped guide wheels and the flat guide wheels are provided, and respectively cooperate with the corresponding guide rail parts.

[0012] As a further solution of the present invention: the second walking mechanism has the same structure as the first walking mechanism.

[0013] As a further solution of the present invention: the clamping and transporting mechanism includes a third support frame, a clamp, a clamping drive mechanism for driving the clamp to open and close, and a lifting drive mechanism for driving the clamp to lift and lower. The third support frame is slidably arranged on the second support frame through a second walking mechanism. There are multiple clamps, which are laterally equidistantly distributed below the third support frame.

[0014] As a further solution of the present invention: the clamping drive mechanism includes a crossbeam, a single-axis motor, a first transmission shaft and a first screw rod member, the crossbeam is arranged below the crossbeam, the single-axis motor is fixedly connected to one end of the crossbeam, the first transmission shaft is fixedly connected to the main shaft end of the single-axis motor, the first screw rod member is vertically rotatably connected to the crossbeam, and there are multiple first screw rod members distributed laterally, multiple first bevel gears are coaxially fixedly connected to the first transmission shaft, the top of each first screw rod member is coaxially fixedly connected to a second bevel gear corresponding to the first bevel gear and meshing, each first screw rod member is threadedly connected to a first screw rod sleeve, each of the clamping jaws includes two groups of symmetrically distributed rotating clamps, a hanger is fixedly connected below the crossbeam, the two groups of rotating clamps are rotatably connected to the hanger, each of the first screw rod sleeves is rotatably connected to linkage rods on both sides, and the ends of the two linkage rods are respectively rotatably connected to the top of the corresponding rotating clamp body.

[0015] As a further solution of the present invention: the lifting drive mechanism includes a second double-axis motor, a second transmission shaft and a second screw rod member; the second double-axis motor is fixedly connected to the third support frame, two second transmission shafts are provided, and are respectively connected to the two main shafts of the second double-axis motor, and vertical guide rails for guiding the crossbeam to slide up and down are fixedly connected at both sides of the third support frame, and second screw rod members are rotatably connected in the two vertical guide rails, and second screw rod sleeves cooperating with the second screw rod member are fixedly connected at both ends of the crossbeam, and the tops of the two second screw rod members are coaxially fixedly connected with the third bevel gear, and the ends of the two second transmission shafts are coaxially fixedly connected with the fourth bevel gear correspondingly meshing with the third bevel gear.

[0016] Beneficial effects of the present invention:

[0017] 1. The clamping jaws of the present invention are driven by the cooperation of the first walking mechanism and the second walking mechanism to realize movement in two mutually perpendicular directions in the same plane, so as to facilitate the transportation and arrangement of the wire reels on the stranding machine to different directions and different workstations, reasonably arrange the location of the wire reels, effectively improve the production environment, save labor intensity, and improve production efficiency.

[0018] 2. The first walking mechanism and the second walking mechanism of the present invention are both connected by a V-shaped guide wheel on one side that cooperates with the V-shaped guide rail, and a flat guide wheel on the other side that cooperates with the flat guide rail. This can effectively reduce the installation accuracy requirements and facilitate installation. At the same time, since the V-shaped guide wheel is connected to the V-shaped guide rail, it is also convenient for positioning and installation. At the same time, it can also effectively limit the position to avoid the corresponding support frame from falling off during the sliding process. Compared with setting V-shaped guide wheels on both sides, it can also effectively reduce the probability of the corresponding support frame getting stuck during the movement and walking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0021] Figure 2 yes Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 3 It is a front view of the overall structure of the present invention;

[0023] Figure 4 It is a left-side structural schematic diagram of the second supporting frame in the present invention in cooperation with the first supporting frame;

[0024] Figure 5 yes Figure 4 A schematic diagram of the enlarged structure at B in the middle;

[0025] Figure 6 yes Figure 4 Schematic diagram of the enlarged structure at C in the middle;

[0026] Figure 7 It is a schematic diagram of the structure of the clamping jaws and the third supporting frame in the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the connection between the cross beam and the second screw rod in the present invention;

[0028] Fig. 9 is a front view structural schematic diagram of the connection between the clamping jaw and the first screw rod member in the present invention;

[0029] Fig.10 It is a left-side structural schematic diagram of the connection between the clamping jaw and the first screw rod in the present invention.

[0030] In the figure: 1. first supporting frame; 2. second supporting frame; 3. third supporting frame; 4. flat guide wheel; 5. supporting guide rail; 6. V-shaped guide wheel; 7. first double-axis motor; 8. clamping claw; 9. second screw sleeve; 10. rack; 11. driving gear; 12. second double-axis motor; 13. second transmission shaft; 14. crossbeam; 15. single-axis motor; 16. first transmission shaft; 17. hanger; 18. second screw member; 19. third bevel gear; 20. fourth bevel gear; 21. first bevel gear; 22. second bevel gear; 23. first screw sleeve; 24. vertical guide rail; 25. first screw member; 26. linkage rod. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-Figure 10 As shown, a multi-station wire reel transfer device is used for wire reel loading, unloading and transfer of a frame-type copper wire shielded twisting machine, including a first support frame 1, a second support frame 2 sliding along the first support frame 1, and a clamping and transferring mechanism for clamping and transporting the wire reel, wherein the clamping and transferring mechanism can be raised and lowered to facilitate lifting the wire reel, and then transferred to other positions and put down; the device also includes a first walking mechanism and a second walking mechanism; the first walking mechanism is arranged on the second support frame 2, and the first walking mechanism is used to drive the second support frame 2 to move laterally along the first support frame 1; the second walking mechanism is arranged on the clamping and transferring mechanism, and the second walking mechanism is used to drive the clamping and transferring mechanism to move laterally along the second support frame 2, and the moving directions of the second support frame 2 and the clamping and transferring mechanism are perpendicular to each other in the same plane.

[0033] The second supporting frame 2 is driven by the first walking mechanism to move along the first supporting frame 1, that is, to move along the X-axis direction, so that the clamping and transferring mechanism for clamping the wire drum will move synchronously along the X-axis direction, and the clamping and transferring mechanism is driven by the second walking mechanism to move along the second supporting frame 2, that is, to move along the Y-axis direction, so that the clamping and transferring mechanism can be moved to multiple stations, which is convenient for removing the rows of wire drums on the stranding machine and reasonably arranging them at different stations, that is, the wire drums can be arranged in different directions and the location of the wire drums can be reasonably arranged, thereby effectively improving the production environment, saving labor intensity, and improving production efficiency.

[0034] In some specific embodiments, in combination Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the first walking mechanism includes supporting guide rails 5, V-shaped guide wheels 6, flat guide wheels 4 and an electrically driven rolling mechanism. Two groups of supporting guide rails 5 are provided and are respectively fixedly connected to both sides of the first supporting frame 1. The V-shaped guide wheel 6 is rotatably connected to one side of the second supporting frame 2, and the flat guide wheel 4 is rotatably connected to the other side of the second supporting frame 2. One group of supporting guide rails 5 is a V-shaped guide rail, which is mated with the V-shaped guide wheel 6, and the other group of supporting guide rails 5 is a plane guide rail, which is mated with the flat guide wheel 4. The electrically driven roller mechanism is mated between the supporting guide rails 5 and the second supporting frame 2.

[0035] A V-shaped guide wheel 6 is provided on one side of the second support frame 2 to cooperate with the V-shaped guide rail, and a flat guide wheel 4 is used on the other side to cooperate with the flat guide rail, which can effectively reduce the installation accuracy requirements and facilitate installation. At the same time, since the V-shaped guide wheel 6 is connected to the V-shaped guide rail, it is also convenient for positioning and installation, and can also effectively limit the position to prevent the second support frame 2 from falling off. Compared with setting V-shaped guide wheels 6 on both sides, the probability of the second support frame 2 getting stuck during movement can also be effectively reduced.

[0036] It should be noted that the above-mentioned electric drive roller mechanism, as a power device, takes the following specific form: the electric drive roller mechanism includes a driving gear 11, a rack 10 and a first dual-axis motor 7. The first dual-axis motor 7 is fixedly connected to the second support frame 2. Two driving gears 11 are provided, and are coaxially connected to the corresponding main shafts of the first dual-axis motor 7 respectively. Two racks 10 are provided, and are respectively and parallelly fixed on the support guide rails 5 on both sides of the first support frame 1, and the driving gear 11 is meshed with the rack 10. When it is necessary to move the second support frame 2 along the first support frame 1, the first dual-axis motor 7 drives the driving gear 11 to rotate, and the driving gear 11 rolls along the rack 10, and relies on the V-shaped guide wheel 6 and the flat guide wheel 4 to cooperate with the corresponding support guide rails 5 respectively, so as to realize reciprocating lateral movement in the X-axis direction.

[0037] In some specific implementation schemes, each group of supporting guide rails 5 includes two guide rail parts, which are symmetrically distributed up and down. Two groups of V-shaped guide wheels 6 and flat guide wheels 4 are provided, and they respectively cooperate with corresponding guide rail parts, so that the entire second support frame 2 can move more smoothly.

[0038] In some specific embodiments, the second walking mechanism has the same structure as the first walking mechanism, and the support guide rails 5 and the rack 10 corresponding to the second walking mechanism are respectively fixedly connected to the two sides of the second support frame 2, and are vertically distributed to the support guide rails 5 and the rack 10 corresponding to the first walking mechanism, and the V-shaped guide wheels 6 and flat guide wheels 4 corresponding to the second walking mechanism are arranged on the clamping and transfer mechanism.

[0039] In some specific embodiments, such as Figures 7 to 10 As shown, the clamping and transporting mechanism includes a third support frame 3, a clamp 8, a clamping drive mechanism for driving the clamp 8 to open and close, and a lifting drive mechanism for driving the clamp 8 to lift and lower. The third support frame 3 is slidably arranged on the second support frame 2 through a second walking mechanism. A plurality of clamps 8 are arranged and are laterally equidistantly distributed below the third support frame 3.

[0040] Wherein, the clamping drive mechanism includes a crossbeam 14, a single-axis motor 15, a first transmission shaft 16 and a first screw rod 25. The crossbeam 14 is arranged below the crossbeam 14. The single-axis motor 15 is fixedly connected to one end of the crossbeam 14. The main shaft of the single-axis motor 15 is in a horizontal position. The first transmission shaft 16 is fixedly connected to the main shaft end of the single-axis motor 15. The first screw rod 25 is vertically rotatably connected to the crossbeam 14 and can only rotate on its own. There are multiple first screw rods 25 distributed laterally. Multiple first bevel gears 21 are coaxially fixedly connected to the first transmission shaft 16. The top of each first screw rod 25 is coaxially fixedly connected to a second bevel gear 22 corresponding to the first bevel gear 21. The first transmission When the shaft 16 rotates, all the first screw rod members 25 can be driven to rotate synchronously through the first bevel gear 21 and the corresponding second bevel gear 22. Each first screw rod member 25 is threadedly connected with a first screw rod sleeve 23. Each clamping jaw 8 includes two groups of symmetrically distributed rotating clamps. A hanger 17 is fixedly connected under the crossbeam 14, and a horizontal axis is fixedly connected to the hanger 17. The two groups of rotating clamps are rotatably connected to the horizontal axis, that is, the two groups of rotating clamps are rotatably connected to the hanger 17 through the same horizontal axis. Both sides of each first screw rod sleeve 23 are rotatably connected with a linkage rod 26 through a rotating pin, and the ends of the two linkage rods 26 are rotatably connected to the top of the corresponding rotating clamp through a rotating shaft.

[0041] When the clamping jaws 8 need to be opened, the first transmission shaft 16 is driven by the single-axis motor 15, and the first transmission shaft 16 drives all the first screw rods 25 to rotate synchronously through the first bevel gear 21 and the corresponding second bevel gear 22, so that the corresponding first screw rod sleeve 23 descends, and the descending first screw rod sleeve 23 drives the corresponding rotating clamp body to rotate through the linkage rod 26, thereby opening the clamping jaws 8. When the two groups of rotating clamp bodies of the clamping jaws 8 are distributed on both sides of the wire drum, the single-axis motor 15 is reversed, so that the clamping jaws 8 are closed to clamp the wire drum, and then the wire drum is transported and transferred.

[0042] In addition, the lifting drive mechanism includes a second double-axis motor 12, a second transmission shaft 13 and a second screw rod 18; the second double-axis motor 12 is fixedly connected to the third support frame 3, and its two main shafts are in a horizontal position. Two second transmission shafts 13 are provided, and are respectively connected to the two main shafts of the second double-axis motor 12. The second transmission shaft 13 is driven to rotate by the second double-axis motor 12. The lower sides of the third support frame 3 are fixedly connected with vertical guide rails 24 for guiding the crossbeam 14 to slide up and down. The two vertical guide rails 24 are rotatably connected with the second screw rod 18, and both ends of the crossbeam 14 are fixedly connected with the second screw rod 18. The second screw sleeve 9 is connected, the tops of the two second screw rods 18 are coaxially fixedly connected with the third bevel gear 19, and the ends of the two second transmission shafts 13 are coaxially fixedly connected with the fourth bevel gear 20 correspondingly meshing with the third bevel gear 19. When it is necessary to make the clamping jaws 8 on the crossbeam 14 move up and down, the two second transmission shafts 13 are driven to rotate by the second dual-axis motor 12, and the two second transmission shafts 13 drive the corresponding second screw rods 18 to rotate through the corresponding third bevel gear 19 and fourth bevel gear 20, and the second screw sleeve 9 on the second screw rod 18 drives the crossbeam 14 to move up and down, thereby making the distributed clamping jaws 8 move up and down.

[0043] In order to facilitate the understanding of the embodiments of this solution by those skilled in the art, the working principle of this solution is briefly described in combination with specific application scenarios:

[0044] When the wire reels of the frame-type copper wire shielded stranding machine need to be loaded, unloaded and transported, the second support frame 2 relies on the first walking mechanism to drive the clamping claw 8 on the third support frame 3 to move along the first support frame 1, that is, it moves along the X-axis direction to the corresponding position and stops, and then the third support frame 3 drives the clamping claw 8 to move along the second support frame 2 by relying on the second walking mechanism, that is, it moves along the Y-axis direction. When it moves to the top of the wire reel group, the first transmission shaft 16 is driven by the single-axis motor 15, and the first transmission shaft 16 drives all the first screw rod members 25 to rotate synchronously through the first bevel gear 21 and the corresponding second bevel gear 22, so that the corresponding first screw rod sleeve 23 descends, and the descending first screw rod sleeve 23 drives the corresponding rotating clamp body to rotate through the linkage rod 26, thereby opening the clamping claw 8;

[0045] Then the second double-axis motor 12 drives the two second transmission shafts 13 to rotate, and the two second transmission shafts 13 drive the corresponding second screw rods 18 to rotate through the corresponding third bevel gears 19 and fourth bevel gears 20, and the second screw sleeve 9 on the second screw rod 18 drives the crossbeam 14 to move downward, so that the two groups of rotating clamps of the distributed clamping jaws 8 are lowered to both sides of the wire drum, and then the single-axis motor 15 is reversed, so that the clamping jaws 8 are closed and clamped to the wire drum, and then the clamping jaws 8 are operated to rise, and moved to the corresponding workstation along the X-axis or Y-axis as needed, and then the wire drum is put down, so as to realize the transportation and transfer of multi-station wire drums.

[0046] Several embodiments of the present invention are described in detail above, but the embodiments of the present invention are not limited thereto and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A multi-station wire drum transfer device, comprising a first support frame (1), a second support frame (2) sliding along the first support frame (1), and a clamping and transfer mechanism for clamping and transporting wire drums, characterized in that: Also includes: A first walking mechanism and a second walking mechanism; The first walking mechanism is arranged on the second supporting frame (2), and the first walking mechanism is used to drive the second supporting frame (2) to move laterally along the first supporting frame (1); The second walking mechanism is arranged on the clamping and transporting mechanism, and is used to drive the clamping and transporting mechanism to move laterally along the second supporting frame (2). The moving directions of the second supporting frame (2) and the clamping and transporting mechanism are perpendicular to each other in the same plane.

2. A multi-station cable tray transfer device according to claim 1, characterized in that: The first walking mechanism comprises a supporting guide rail (5), a V-shaped guide wheel (6), a flat guide wheel (4) and an electric drive rolling mechanism. The supporting guide rail (5) is provided with two groups and is respectively fixedly connected to the two sides of the first supporting frame (1). The V-shaped guide wheel (6) is rotatably connected to one side of the second supporting frame (2), and the flat guide wheel (4) is rotatably connected to the other side of the second supporting frame (2). One group of the supporting guide rails (5) is a V-shaped guide rail and is connected to the V-shaped guide wheel (6). The other group of the supporting guide rails (5) is a plane guide rail and is connected to the flat guide wheel (4). The electric drive rolling mechanism is connected between the supporting guide rail (5) and the second supporting frame (2).

3. A multi-station wire drum transfer device according to claim 2, characterized in that: The electric-driven roller mechanism comprises a driving gear (11), a rack (10) and a first dual-axis motor (7); the first dual-axis motor (7) is fixedly connected to the second support frame (2); two driving gears (11) are provided and are respectively coaxially connected to the corresponding main shafts of the first dual-axis motor (7); two racks (10) are provided and are respectively arranged on the support guide rails (5) on both sides of the first support frame (1); and the driving gear (11) is meshed with the rack (10).

4. A multi-station wire drum transfer device according to claim 2, characterized in that: Each group of the supporting guide rails (5) comprises two guide rail parts which are symmetrically distributed up and down. The V-shaped guide wheels (6) and the flat guide wheels (4) are provided in two groups and respectively cooperate with the corresponding guide rail parts.

5. The multi-station cable tray transfer device according to claim 1, characterized in that: The second walking mechanism has the same structure as the first walking mechanism.

6. A multi-station cable tray transfer device according to claim 1, characterized in that: The clamping and transporting mechanism comprises a third support frame (3), a clamping claw (8), a clamping drive mechanism for driving the clamping claw (8) to open and close, and a lifting drive mechanism for driving the clamping claw (8) to rise and fall. The third support frame (3) is slidably arranged on the second support frame (2) via a second walking mechanism. A plurality of clamping claws (8) are arranged and are laterally equidistantly distributed below the third support frame (3).

7. A multi-station cable tray transfer device according to claim 6, characterized in that: The clamping drive mechanism comprises a crossbeam (14), a single-axis motor (15), a first transmission shaft (16) and a first screw rod (25); the crossbeam (14) is arranged below the crossbeam (14); the single-axis motor (15) is fixedly connected to one end of the crossbeam (14); the first transmission shaft (16) is fixedly connected to the main shaft end of the single-axis motor (15); the first screw rod (25) is vertically rotatably connected to the crossbeam (14); and a plurality of first screw rods (25) are distributed laterally; a plurality of first bevel gears (21) are coaxially fixedly connected to the first transmission shaft (16); each of the first screw rods (25) is The top of the rod (25) is coaxially fixedly connected with a second bevel gear (22) corresponding to the first bevel gear (21), each of the first screw rods (25) is threadedly connected with a first screw sleeve (23), each of the clamping jaws (8) includes two groups of symmetrically distributed rotating clamps, a hanger (17) is fixedly connected below the crossbeam (14), the two groups of rotating clamps are rotatably connected to the hanger (17), and both sides of each of the first screw sleeves (23) are rotatably connected with a linkage rod (26), and the ends of the two linkage rods (26) are respectively rotatably connected to the top of the corresponding rotating clamp.

8. A multi-station cable tray transfer device according to claim 7, characterized in that: The lifting drive mechanism comprises a second double-axis motor (12), a second transmission shaft (13) and a second screw rod (18); the second double-axis motor (12) is fixedly connected to the third support frame (3); two second transmission shafts (13) are provided and are respectively connected to two main shafts of the second double-axis motor (12); vertical guide rails (24) for guiding the cross beam (14) to slide up and down are fixedly connected at the lower sides of both sides of the third support frame (3); the second screw rod (18) is rotatably connected in the two vertical guide rails (24); the second screw rod sleeve (9) matched with the second screw rod (18) is fixedly connected at both ends of the cross beam (14); the tops of the two second screw rods (18) are coaxially fixedly connected to the third bevel gear (19); the ends of the two second transmission shafts (13) are coaxially fixedly connected to the fourth bevel gear (20) correspondingly meshing with the third bevel gear (19).

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