Two-dimensional spacing adjustable mechanical structure, conveying device and conveying adjusting method

Abstract

The invention discloses a two-dimensional spacing adjustable mechanical structure which comprises a plurality of movable supporting blocks, the movable supporting blocks are used for arranging a material grabbing mechanism, the movable supporting blocks are arranged on a two-shaft moving assembly, and the two-shaft moving assembly is at least provided with two shear fork type connecting rod assemblies for driving. The first shear fork type connecting rod assembly and the second shear fork type connecting rod assembly are each provided with an internal thread transmission sleeve and a positive and negative thread lead screw which are in matched transmission, and the positive and negative thread lead screws are connected with a stepping motor. The invention further discloses a conveying device which can convey products in multiple ways, and the products are grabbed and placed by the mechanical structure array. According to the device, the distance between products can be adjusted in batches in a self-adaptive mode, and the effect of rapid placing and discharging is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying and packaging, and in particular to a mechanical structure with adjustable two-dimensional spacing, a conveying device and a conveying adjustment method. Background Art

[0002] During the production and processing process, when the production and processing is completed, the materials are generally unloaded through a conveying mechanism, placed in product packaging boxes, and packaged and put into storage. They can be assisted by a robot or manually picked up and placed in the packaging box.

[0003] For some mass-produced products, the products will accumulate at the unloading position of the conveying mechanism during unloading. Multiple products need to be placed in one packaging box, and the horizontal and vertical spacing of each placement position is basically different from the horizontal and vertical spacing of the products at the unloading position.

[0004] When the robot grabs and places materials, it cannot effectively adjust the horizontal and vertical spacing. It can generally only grab and adjust a row of products, that is, adjust the spacing horizontally or vertically, which results in a packaging box having to be grabbed multiple times to achieve the effect of placing all the boxes. This makes the robot placement efficiency low, greatly increases the mechanical energy consumption, and greatly prolongs the waiting time for unloading materials. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a mechanical structure with adjustable two-dimensional spacing, a conveying device and a conveying adjustment method, which can adaptively adjust the product spacing in batches to achieve the effect of quickly placing and unloading materials.

[0006] In order to solve the above technical problems, the present invention provides a mechanical structure with adjustable two-dimensional spacing, including several movable support blocks, the movable support blocks are used to set material grabbing mechanisms, and several of the movable support blocks are arranged on a two-axis moving assembly, and the two-axis moving assembly is respectively provided with a first scissors-type connecting rod assembly and a second scissors-type connecting rod assembly on at least two adjacent sides, and the first scissors-type connecting rod assembly and the second scissors-type connecting rod assembly are both provided with an internal threaded transmission sleeve and a positive and negative screw rod for matching transmission, and the positive and negative screw rod is connected to a stepper motor, and the first scissors-type connecting rod assembly drives the two-axis moving assembly to move along the X-axis direction through the positive and negative screw rods and the stepper motor, and the second scissors-type connecting rod assembly drives the two-axis moving assembly to move along the Y-axis direction through the positive and negative screw rods and the stepper motor.

[0007] Furthermore, the two-axis moving assembly includes at least one third scissors-type linkage assembly, which is arranged in parallel with the first scissors-type linkage assembly, and a plurality of fourth scissors-type linkage assemblies are arranged between adjacent third scissors-type linkage assemblies and first scissors-type linkage assemblies, and the fourth scissors-type linkage assemblies are arranged in parallel with the second scissors-type linkage assembly.

[0008] Furthermore, the third scissor-type connecting rod assembly and the fourth scissor-type connecting rod assembly are both provided with positive and negative threaded screws.

[0009] Furthermore, the first scissor-type linkage assembly, the second scissor-type linkage assembly, the third scissor-type linkage assembly and the fourth scissor-type linkage assembly each include a plurality of diamond-shaped linkage mechanisms, each diamond-shaped linkage mechanism includes four linkages connected by head and tail axes, and each diamond-shaped linkage mechanism is provided with positive and negative threaded rods.

[0010] Furthermore, the two-axis moving assembly includes a plurality of X-direction guide axes and a plurality of Y-direction guide axes arranged in parallel, the movable support block is provided with an X-direction guide hole and a Y-direction guide hole, the X-direction guide axis and the Y-direction guide axis are inserted into the X-direction guide hole and the Y-direction guide hole on the corresponding movable support block, the axis connection of the first scissors-type linkage assembly is axially connected to the end of the corresponding Y-direction guide axis, the axis connection of the second scissors-type linkage assembly is axially connected to the end of the corresponding X-direction guide axis, and the adjacent ends of the X-direction guide axis adjacent to the first scissors-type linkage assembly and the Y-direction guide axis adjacent to the second scissors-type linkage assembly are fixedly connected.

[0011] Furthermore, a third scissors-type link assembly is arranged on one end of the X-direction guide shaft away from the second scissors-type link assembly, and a fourth scissors-type link assembly is arranged on one end of the Y-direction guide shaft away from the first scissors-type link assembly. The third scissors-type link assembly moves synchronously with the second scissors-type link assembly, and the fourth scissors-type link assembly moves synchronously with the first scissors-type link assembly.

[0012] Furthermore, it also includes a micro-displacement sensor, which is arranged on one side of the moving direction of the internal thread transmission sleeve. The micro-displacement sensor is used to trigger the counting starting point of the stepper motor pulse number. When the micro-displacement sensor obtains the contact signal of the internal thread transmission sleeve, the PLC clears the stepper motor pulse number. When the micro-displacement sensor loses the contact signal of the internal thread transmission sleeve, the PLC counts the stepper motor pulse number.

[0013] A transport device includes a conveyor line and a material placement station, wherein the conveyor line is provided with a plurality of parallel conveyor troughs for storing a plurality of materials, the material placement station is provided with a product box, the product box is provided with an interval placement space, and the mechanical structure with adjustable two-dimensional spacing is provided between the conveyor line and the material placement station.

[0014] A method for adjusting transportation includes the above-mentioned transportation device, and the adjustment method includes the following steps:

[0015] Step 1: First, obtain the length L of the connecting rod between adjacent shaft connection points in the first scissor-type connecting rod assembly and the second scissor-type connecting rod assembly, the pitch d of the positive and negative threaded screws, and the number of pulses k required for each rotation of the stepping motor, and input them into the PLC;

[0016] Obtain the first X-axis center distance x1 between two adjacent materials in the conveying trough, and the first Y-axis center distance y1 between two corresponding materials between two adjacent conveying troughs, obtain the first state coordinates, and input them into the PLC;

[0017] Obtain the second X-axis center distance x2 and the second Y-axis center distance y2 of two adjacent spacing placement spaces in the product box, obtain the second state coordinates, and input them into the PLC;

[0018] Obtaining the initial state spacing x of the first scissor-type connecting rod assembly and the initial state spacing y of the first scissor-type connecting rod assembly, obtaining the mechanical initial state coordinates, and inputting them into the PLC;

[0019] Step 2, calculate the pulse numbers of the two stepper motors during the process from the mechanical initial state coordinates to the first state coordinates through PLC: Nx1 and Ny1, and the pulse numbers of the two stepper motors during the process from the mechanical initial state coordinates to the first state coordinates Nx2 and Ny2;

[0020] Step 3: PLC outputs instructions to make the two stepper motors rotate and reset to the mechanical initial state coordinates;

[0021] Step 4: PLC outputs instructions to make the two stepper motors rotate to the first state coordinates according to the number of pulses Nx1 and Ny1, and the material is grabbed by the material grabbing mechanism.

[0022] Step 5: PLC outputs instructions to make the two stepper motors rotate and reset to the mechanical initial state coordinates;

[0023] Step 6: PLC outputs instructions to make the two stepper motors rotate to the second state coordinates according to the number of Nx2 and Ny2 pulses, and the material box is grabbed by the material grabbing mechanism.

[0024] Step 7. Repeat steps 3-4 to carry out batch placement.

[0025] Beneficial effects of the present invention:

[0026] 1. Through the scissor-type connection structure, the two sides of the two-dimensional structure are effectively driven to extend and retract, and the power is independent, so that the movable support blocks can be effectively arranged in an array, and the distance adjustment in the x and y directions can be achieved to adapt to the different feeding and unloading spacings. At the same time, a large number of items can be grabbed, and the packaging box can be filled at one time.

[0027] 2. By providing an independent driving structure in each diamond-shaped variable structure in the scissor-type connecting rod assembly, the spacing between two movable support blocks in the same direction can be adjusted, thereby achieving the effect of a non-equidistant array and having a wide range of uses.

[0028] 3. The use of micro-displacement sensors can effectively improve the movement accuracy and effectively avoid the gap caused by the thread pitch when the screw rod rotates forward and backward, making it unnecessary to use high-precision position detection sensors and reducing the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the two-dimensional adjustable structure of the present invention;

[0030] Figure 2 The present invention Figure 1 Schematic diagram of the plane structure;

[0031] Figure 3 is a structural schematic diagram of a multi-drive scissor-type connecting rod assembly with a micro-displacement sensor of the present invention;

[0032] Figure 4 It is a schematic diagram of the connecting rod matching structure of the multi-drive scissor-type connecting rod assembly of the present invention;

[0033] Figure 5 is a schematic diagram of a two-dimensional adjustable structure in another embodiment of the present invention;

[0034] Figure 6 The present invention Figure 5 A schematic diagram of a top view structure;

[0035] Figure 7 It is a schematic diagram of the connection of the movable support block with a guide hole of the present invention;

[0036] Figure 8 It is a schematic structural diagram of the conveying device of the present invention;

[0037] Fig. 9 It is a schematic diagram of displacement calculation of the scissor-type connecting rod assembly of the present invention. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0039] Reference Figures 1 to 4As shown, an embodiment of the mechanical structure with adjustable two-dimensional spacing of the present invention comprises a plurality of movable support blocks 1, on which a material grabbing mechanism 2 is arranged, and a plurality of movable support blocks are arranged on a two-axis moving assembly 3, and the two-axis moving assembly is respectively provided with a first scissor-type connecting rod assembly 4 and a second scissor-type connecting rod assembly 5 on at least two adjacent sides, and the first scissor-type connecting rod assembly and the second scissor-type connecting rod assembly are both provided with an internal thread transmission sleeve 6 and a positive and negative threaded screw 7 for matching transmission, and the positive and negative threaded screw is connected to a stepping motor 8, and the first scissor-type connecting rod assembly cooperates with the stepping motor to drive the two-axis moving assembly to move along the X-axis direction through the positive and negative threaded screw and the stepping motor, and the second scissor-type connecting rod assembly cooperates with the positive and negative threaded screw and the stepping motor to drive the two-axis moving assembly to move along the Y-axis direction through the positive and negative threaded screw and the stepping motor.

[0040] In the above structure, the stepper motor drives the forward and reverse screws to rotate, and the two internal thread transmission sleeves on the forward and reverse screws will move closer or farther away from each other on the forward and reverse screws. The internal thread transmission sleeves that move closer or farther away can drive the corresponding first scissor-type linkage assembly to move, that is, extend or retract, to achieve the effect of driving movement in the X-axis direction. The second scissor-type linkage assembly has the same action mode as the first scissor-type linkage assembly. Through the cooperation of the second scissor-type linkage assembly and the first scissor-type linkage assembly, it has driving force in two directions in a two-dimensional plane. The second scissor-type linkage assembly and the first scissor-type linkage assembly are independently driven, so the spacing can be adjusted in both the X and Y directions to achieve the effect of array adjustment.

[0041] During the driving process of the stepper motor, due to the gap between the internal thread transmission sleeve and the positive and negative threaded rod, when the positive and negative threaded rod reverses, there will be a certain angle of idling, so that there is an error between the number of pulses when the spacing is adjusted again after the positive and negative threaded rod reverses and the actual set distance. In order to eliminate the displacement error caused by the gap, the present invention sets a micro displacement sensor 17 at the top of the fixed screw, and the micro displacement sensor is set on one side of the moving direction of the internal thread transmission sleeve, and its bracket can be fixed to the motor. When the internal thread transmission sleeve presses the telescopic rod of the micro displacement sensor, the value of the micro displacement sensor is cleared and transmitted to the PLC. Only when the value of the micro displacement sensor is non-zero, it means that the internal thread transmission sleeve and the telescopic rod of the micro displacement sensor are separated and moved. At this moment, the program in the PLC will start to count the number of pulses of the stepper motor, and the idling number during reversal is not counted, which effectively improves the spacing adjustment accuracy.

[0042] The second scissor-type linkage assembly and the first scissor-type linkage assembly can drive the two-axis moving assembly to move, thereby driving the movable support block to move in an array, that is, the material grabbing mechanism is adjusted in position within a two-dimensional plane. The above-mentioned two-axis moving assembly includes at least one third scissor-type linkage assembly 9, and the third scissor-type linkage assembly is arranged in parallel with the first scissor-type linkage assembly. A plurality of fourth scissor-type linkage assemblies 10 are arranged between adjacent third scissor-type linkage assemblies and first scissor-type linkage assemblies, and the fourth scissor-type linkage assembly is arranged in parallel with the second scissor-type linkage assembly. Taking the 3*3 movable support block structure as an example, refer to Figure 2 As shown, the number of the first scissor-type linkage assembly and the third scissor-type linkage assembly are both 1 and are arranged in parallel on two opposite sides; the number of the second scissor-type linkage assembly is 1, and the number of the fourth scissor-type linkage assembly is 2, and the two are arranged respectively on the other two sides, and one of the fourth scissor-type linkage assemblies is arranged in the middle to support the movable support block in the middle of the matrix.

[0043] Specifically, when the first scissor-type link assembly extends, it can drive the second scissor-type link assembly and the two fourth scissor-type link assemblies to move away equidistantly, and at the same time, the third scissor-type link assembly is driven to extend; conversely, the effect of equidistant movement approaching and synchronous retraction is achieved;

[0044] When the second scissor-type link assembly extends, it can drive the first scissor-type link assembly and the third scissor-type link assembly to move away equidistantly, and at the same time, the two fourth scissor-type link assemblies are driven to extend; conversely, the effect of equidistant movement closer and synchronous retraction is achieved.

[0045] Of course, the third scissor-type link assembly and the fourth scissor-type link assembly can also be provided with forward and reverse screws and stepper motors, the stepper motors on the first scissor-type link assembly and the third scissor-type link assembly move synchronously, and the stepper motors on the second scissor-type link assembly and the fourth scissor-type link assembly move synchronously, so as to achieve the purpose of synchronous movement in the X-axis direction and the Y-axis direction, and the movement is smooth and reliable.

[0046] In the entire mechanism, the stepper motor needs to be effectively fixed in the vertical direction. Figure 1 In the structure shown, when the stepper motor drives the scissors-type linkage assembly to move, a displacement will also be generated. Therefore, a slide rail or other structure can be used to assist in fixing the stepper motor, and each movable support block is effectively fixed by the rotating shaft on the scissors-type linkage assembly (not shown in the figure, and the prior art is not described in detail). Finally, the first scissors-type linkage assembly, the second scissors-type linkage assembly, the third scissors-type linkage assembly and the fourth scissors-type linkage assembly cooperate to form a linkage frame structure with supporting capabilities.

[0047] In one embodiment, based on the scissor-type structure adopted by the above two-axis moving assembly, the first scissor-type connecting rod assembly, the second scissor-type connecting rod assembly, the third scissor-type connecting rod assembly and the fourth scissor-type connecting rod assembly can also be designed to include multiple diamond-shaped connecting rod mechanisms 11, each of which includes four connecting rods 12 connected to the head and tail axes, and each diamond-shaped connecting rod mechanism is provided with positive and negative threaded rods. Figure 3 and Figure 4 As shown, taking a scissor-type linkage assembly with two diamond linkage mechanisms as an example, the two diamond linkage mechanisms can be independently driven to open or retract, so that in the X-axis direction, the spacing between adjacent movable support blocks can be adjusted to be different, and the spacing in the Y-axis direction can also be adjusted to be different, forming an adjustment effect of coaxial different spacings.

[0048] When the above structure is used to form a scissor-type structure, a single scissor-type structure cannot effectively support the middle position, and the movable support block cannot be well supported by the fixation of the stepper motor alone. Therefore, an X-direction guide rail can be set on the surface of the three movable support blocks in the same row, with a total of three rows of three, and a Y-direction guide rail can be set on the surface of the three movable support blocks in the same column, with a total of three columns of three. The Y-direction guide rail is superimposed on the X-direction guide rail to form an effective support structure without affecting the movement.

[0049] Reference Figures 5 to 7 As shown, the present application also proposes a structure of a two-axis moving assembly, which includes a plurality of X-direction guide axes 13 and a plurality of Y-direction guide axes 14 arranged in parallel, an X-direction guide hole 15 and a Y-direction guide hole 16 are arranged on the movable support block, the X-direction guide axis and the Y-direction guide axis are inserted into the X-direction guide hole and the Y-direction guide hole on the corresponding movable support block, the axis connection of the first scissors-type link assembly is axially connected to the end of the corresponding Y-direction guide axis, the axis connection of the second scissors-type link assembly is axially connected to the end of the corresponding X-direction guide axis, and the adjacent ends of the X-direction guide axis adjacent to the first scissors-type link assembly and the Y-direction guide axis adjacent to the second scissors-type link assembly are fixedly connected.

[0050] By using the movable support block as a connecting material grabbing mechanism, it also plays a role of guiding and connecting each other. The 9 movable support blocks are connected together through the X-direction guide axis and the Y-direction guide axis, that is, the connection can be achieved through three X-direction guide axes and three Y-direction guide axes. However, in this structure, each of the three X-direction guide axes and each Y-direction guide axis is fixed at one end, and there is a certain problem of mobile guide jamming. Therefore, an X-direction guide axis and a Y-direction guide axis and three movable support blocks can be added to achieve a stable frame structure. Refer to Figure 5As shown, it uses a first scissor-type connecting rod assembly and a second scissor-type connecting rod assembly to effectively drive the X-direction guide axis and the Y-direction guide axis to move on two adjacent sides, so that the array can be effectively adjusted.

[0051] Since unilateral drive may cause movement jamming, a third scissor-type link assembly is provided on one end of the X-direction guide shaft away from the second scissor-type link assembly, and a fourth scissor-type link assembly is provided on one end of the Y-direction guide shaft away from the first scissor-type link assembly. The third scissor-type link assembly moves synchronously with the second scissor-type link assembly, and the fourth scissor-type link assembly moves synchronously with the first scissor-type link assembly. The overall structure is small in size and easy to prepare.

[0052] Reference Figure 8 As shown, the present application discloses a conveying device, including a conveyor line 18 and a material placement station, wherein a plurality of parallel conveyor troughs 19 are arranged on the conveyor line, and the conveyor troughs are used to store a plurality of materials, and a product box 20 is arranged in the material placement station, and a space for placing the product box is arranged in an interval, and a mechanical structure 21 with adjustable two-dimensional spacing is arranged between the conveyor line and the material placement station. The conveyor line sequentially conveys and stores the products in the conveyor trough. In order to improve the conveying efficiency, the conveyor trough is a multi-row structure. In a conveyor trough, the products are in contact with each other, and the spacing between them is basically 0. However, due to the limitation of the conveyor line, there is a spacing between two adjacent conveyor troughs, that is, the center distance between the two products in the X direction is the diameter of the product, and the center distance between the two products in the Y direction is the diameter of the product plus the spacing distance. The product box has a fixed center distance size. The product in the conveyor trough is first grabbed on the conveyor line by the mechanical structure with adjustable two-dimensional spacing, and then the two-dimensional spacing is adjusted, and then the product is transferred to the top of the product box for placement.

[0053] Specifically, the present application also discloses a method for adjusting the transport. Fig. 9 As shown, taking the X-direction drive as an example, assuming that the length of the four identical connecting rods is L, the line connecting AB and mM intersects vertically, according to the relationship between the side lengths of the right triangle, formulas (1) and (2) hold, and the required x-direction distance |AB| is related to the distance |mM|. From formula (2), we can get |mM|, which is the displacement value of the stepper motor driving the screw forward. Given the screw pitch (d) and the number of pulses required per stepper motor revolution (k), the number of stepper motor pulses (N) can be calculated according to formula (3). The PLC sends instructions to the stepper motor according to this value, and the stepper motor drives the x-direction screw to move to the set distance. Similarly, the y-direction also calculates the number of pulses according to the above formula, and outputs the pulse number to the stepper motor controlling the y-direction. The stepper motor drives the y-direction screw to move to the set distance, thereby realizing arbitrary distance adjustment in two-dimensional directions.

[0054]

[0055] Specifically, take the adjustment of the pipette tip as an example: the diameter of the pipette tip is 8mm, the horizontal center spacing of the pipette tip in the multi-channel conveyor slot is x1=8mm, the vertical center spacing is y1=20mm, the horizontal center spacing of the inner hole of the packaging box of the tip is x2=12mm, the longitudinal center spacing is y2=15mm, the connecting rod length of the adjustable spacing mechanical structure is L=50mm, the screw pitch is 2mm, and the number of pulses required per revolution of the stepper motor is 5000. The material grabbing mechanism is a vacuum suction head.

[0056] First, input the parameter values ​​of the adjustable spacing mechanical structure on the touch screen of the conveying device: L = 50 mm, d = 2 mm, k = 5000;

[0057] Then enter the required adjustment distance parameter values ​​on the touch screen: x1=8mm, y1=20mm; x2=12mm, y2=15mm;

[0058] Through the input parameter values, the PLC can calculate the number of pulses of the stepper motor: Nx1=249198, Ny1=244949, Nx2=248193; Ny2=247171.

[0059] PLC output instruction 1: Mechanical initial state (x, y is 0). Here, the description of x, y being 0 does not mean that the distance between adjacent vacuum suction heads is 0, because they cannot overlap. What is meant here is that the minimum distance between adjacent vacuum suction heads is regarded as the initial state. The PLC program will adjust and send the number of pulses to the stepper motor based on this initial state position.

[0060] PLC output instruction 2: According to the output value Nx1 required by the PLC output instruction x1, the stepper motor of the first scissor-type linkage assembly in the x-direction is driven to rotate forward 249198 times. According to the output value Ny1 required by the PLC output instruction y1, the stepper motor of the second scissor-type linkage assembly in the y-direction is driven to rotate forward 244949 times. The suction tip sucks the pipette tip.

[0061] PLC output instruction 3: The adjustable spacing mechanical structure returns to the initial state, specifically, the x and y stepper motors rotate in the opposite direction to the initial state, that is, the telescopic rod of the micro-displacement sensor contacts the internal thread transmission sleeve to achieve reset.

[0062] PLC output instruction 4: According to the output value Nx2 required by the PLC output instruction x2, the x-axis stepper motor is driven to rotate forward 248193 times; according to the output value Ny2 required by y2, the y-axis stepper motor is driven to rotate forward 247171 times, and the tip is placed in the pipette tip packaging box.

[0063] PLC output instruction 5: the adjustable spacing mechanical structure returns to the initial state, specifically, the x and y direction stepper motors rotate in the opposite direction to the initial state, that is, the telescopic rod of the micro-displacement sensor contacts the internal thread transmission sleeve to achieve reset.

[0064] The PLC can repeatedly grab and place the pipette tips by repeating the above command output.

[0065] In the above-mentioned embodiment, the pipette tip can also be a product of larger size, can also be applicable, and can also be extended in multiple rows and columns. The above-mentioned adjustable spacing mechanical structure can be driven by a mechanical arm to lift and move, etc. This is an existing method and will not be described in detail.

[0066] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A mechanical structure with adjustable two-dimensional spacing, characterized in that: It includes a plurality of movable support blocks, the movable support blocks are used to set the material grabbing mechanism, the plurality of movable support blocks are set on the two-axis moving assembly, the two-axis moving assembly is respectively provided with a first scissor-type connecting rod assembly and a second scissor-type connecting rod assembly on at least two adjacent sides, the first scissor-type connecting rod assembly and the second scissor-type connecting rod assembly are both provided with an internal thread transmission sleeve and a positive and negative screw rod for matching transmission, the positive and negative screw rod is connected to the stepper motor, the first scissor-type connecting rod assembly drives the two-axis moving assembly to move along the X-axis direction through the positive and negative screw rod and the stepper motor, and the second scissor-type connecting rod assembly drives the two-axis moving assembly to move along the Y-axis direction through the positive and negative screw rod and the stepper motor.

2. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 1, characterized in that: The two-axis moving assembly includes at least one third scissor-type link assembly, which is arranged in parallel with the first scissor-type link assembly, and a plurality of fourth scissor-type link assemblies are arranged between adjacent third scissor-type link assemblies and first scissor-type link assemblies, which are arranged in parallel with the second scissor-type link assembly.

3. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 2, characterized in that: The third scissor-type connecting rod assembly and the fourth scissor-type connecting rod assembly are both provided with positive and negative threaded screws.

4. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 2, characterized in that: The first scissor-type connecting rod assembly, the second scissor-type connecting rod assembly, the third scissor-type connecting rod assembly and the fourth scissor-type connecting rod assembly all include a plurality of diamond-shaped connecting rod mechanisms, each of which includes four connecting rods connected by head and tail shafts, and each of which is provided with positive and negative threaded rods.

5. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 1, characterized in that: The two-axis moving assembly includes a plurality of X-direction guide axes and a plurality of Y-direction guide axes arranged in parallel, the movable support block is provided with an X-direction guide hole and a Y-direction guide hole, the X-direction guide axis and the Y-direction guide axis are inserted into the X-direction guide hole and the Y-direction guide hole on the corresponding movable support block, the axis connection of the first scissor-type link assembly is axially connected to the end of the corresponding Y-direction guide axis, the axis connection of the second scissor-type link assembly is axially connected to the end of the corresponding X-direction guide axis, and the adjacent ends of the X-direction guide axis adjacent to the first scissor-type link assembly and the Y-direction guide axis adjacent to the second scissor-type link assembly are fixedly connected.

6. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 1, characterized in that: A third scissors-type link assembly is arranged on one end of the X-direction guide shaft away from the second scissors-type link assembly, a fourth scissors-type link assembly is arranged on one end of the Y-direction guide shaft away from the first scissors-type link assembly, the third scissors-type link assembly moves synchronously with the second scissors-type link assembly, and the fourth scissors-type link assembly moves synchronously with the first scissors-type link assembly.

7. The mechanical structure with adjustable two-dimensional spacing as claimed in claim 1, characterized in that: It also includes a micro-displacement sensor, which is arranged on one side of the moving direction of the internal thread transmission sleeve. The micro-displacement sensor is used to trigger the counting starting point of the stepper motor pulse number. When the micro-displacement sensor obtains the contact signal of the internal thread transmission sleeve, the PLC clears the stepper motor pulse number. When the micro-displacement sensor loses the contact signal of the internal thread transmission sleeve, the PLC counts the stepper motor pulse number.

8. A conveying device, characterized in that: It includes a conveyor line and a material placement station, wherein the conveyor line is provided with a plurality of parallel conveyor troughs, wherein the conveyor troughs are used to store a plurality of materials, wherein the material placement station is provided with a product box, wherein the product box is provided with an interval placement space, and a two-dimensional spacing adjustable mechanical structure as described in any one of claims 1-7 is provided between the conveyor line and the material placement station.

9. A method for transport adjustment, characterized in that: The conveying device according to claim 8, wherein the adjustment method comprises the following steps: Step 1: First, obtain the length L of the connecting rod between adjacent shaft connection points in the first scissor-type connecting rod assembly and the second scissor-type connecting rod assembly, the pitch d of the positive and negative threaded screws, and the number of pulses k required for each rotation of the stepping motor, and input them into the PLC; Obtain the first X-axis center distance x1 between two adjacent materials in the conveying trough, and the first Y-axis center distance y1 between two corresponding materials between two adjacent conveying troughs, obtain the first state coordinates, and input them into the PLC; Obtain the second X-axis center distance x2 and the second Y-axis center distance y2 of two adjacent spacing placement spaces in the product box, obtain the second state coordinates, and input them into the PLC; Obtaining the initial state spacing x of the first scissor-type connecting rod assembly and the initial state spacing y of the first scissor-type connecting rod assembly, obtaining the mechanical initial state coordinates, and inputting them into the PLC; Step 2, calculate the pulse numbers of the two stepper motors during the process from the mechanical initial state coordinates to the first state coordinates through PLC: Nx1 and Ny1, and the pulse numbers of the two stepper motors during the process from the mechanical initial state coordinates to the first state coordinates Nx2 and Ny2; Step 3: PLC outputs instructions to make the two stepper motors rotate and reset to the mechanical initial state coordinates; Step 4: PLC outputs instructions to make the two stepper motors rotate to the first state coordinates according to the number of pulses Nx1 and Ny1, and the material is grabbed by the material grabbing mechanism. Step 5: PLC outputs instructions to make the two stepper motors rotate and reset to the mechanical initial state coordinates; Step 6: PLC outputs instructions to make the two stepper motors rotate to the second state coordinates according to the number of Nx2 and Ny2 pulses, and grab the material box through the material grabbing mechanism. Step 7. Repeat steps 3-4 to carry out batch placement.

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