Multi-station pose controllable device

Abstract

The invention belongs to the field of intelligent mechanical equipment, and particularly relates to a multi-station pose controllable device. The multi-station material storage device is widely applied to all walks of life and is a core unit of a flexible production and intelligent manufacturing system. The invention provides a multi-station pose controllable device which comprises a rack, a bearing platform, a lifting device and a connecting device, and the lifting device comprises a linear transmission mechanism and two guide rails. The posture of the bearing platform can be adjusted and controlled through cooperation of the single-rotating-pair connecting module and the double-rotating-pair module. According to the connecting module based on the roller path and roller structures, the technology that the double bearing platforms share the guide rail is formed, mutual supporting is achieved, reliability is high, high universality is achieved, the number of the bearing platforms can be conveniently increased, and space and cost are saved. The performance of the intelligent manufacturing equipment is improved, wide application of the intelligent manufacturing equipment in the fields of manufacturing, logistics, medical instruments, automobiles and parts, low-altitude economy and the like is promoted, and important practical value is achieved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent mechanical equipment, specifically relating to a multi-station posture controllable device. Background Technology

[0002] Multi-station material storage devices have extremely wide applications across various industries and are core units of flexible manufacturing and intelligent manufacturing systems. They serve as dynamic buffers for flexible production lines and act as workstations for precise material delivery. Multi-station operation significantly increases work density and space utilization; furthermore, they enable parallel or assembly line operations, improving time efficiency and greatly enhancing system performance. Adjustable and controllable orientation greatly enhances environmental adaptability and improves dynamic stability and reliability. Currently prevalent single-station storage devices suffer from low space utilization and non-adjustable orientation, severely limiting application scenarios and performance improvements. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a multi-station posture controllable device. Through the coordinated operation of a single-rotation joint connection module and a double-rotation joint module, the posture of the support platform is adjustable and controllable. The bottom and top support platforms share guide rails and support each other, improving the rigidity of the mechanism. This invention enhances the performance of intelligent manufacturing equipment and promotes its widespread application in manufacturing, logistics, medical devices, automobiles and auto parts, and low-altitude economy, possessing significant practical value.

[0004] The technical solution of this invention is implemented as follows: A multi-station pose controllable device includes a frame, a support platform, a lifting device, and a connecting device; the lifting device is disposed on the side of the frame, and the support platform is disposed inside the frame. The support platform includes multiple platform units arranged at intervals along the height of the frame; the lifting device includes a linear drive mechanism and a guide rail; the linear drive mechanism is centrally symmetrically arranged on the first opposite side of each platform unit; the positions of multiple pairs of linear drive mechanisms intersect each other; the guide rail is symmetrically arranged on the second opposite side of each platform unit, and multiple platform units share a pair of guide rails. The linear transmission mechanism is connected to the corresponding platform unit through a connecting device, and is used to provide the corresponding platform unit with translational and rotational degrees of freedom in the height direction of the frame; The guide rail is connected to the corresponding platform unit via a connecting device, and is used to provide translational and rotational limits in the height direction of the corresponding platform unit.

[0005] Preferably, the connecting device includes three types: connecting module I, connecting module II, and connecting module III; The linear transmission mechanism is connected to the first opposite side of the platform unit through connecting module I and connecting module II respectively, and is used to provide the corresponding platform unit with translational and rotational degrees of freedom in the height direction of the frame; The second opposite sides of the platform unit are connected to the guide rails at the corresponding positions via connecting module III, which is used to provide translational and rotational limits in the height direction of the corresponding platform unit.

[0006] Preferably, the support platform includes a bottom platform and a top platform arranged at intervals along the height direction of the frame.

[0007] Preferably, the lifting device includes a first linear transmission mechanism, a second linear transmission mechanism, a third linear transmission mechanism, a fourth linear transmission mechanism, a first guide rail, and a second guide rail; The connecting device includes a first connecting module, a second connecting module, a third connecting module, a fourth connecting module, a fifth connecting module, a sixth connecting module, a seventh connecting module, and an eighth connecting module; The first linear drive mechanism and the second linear drive mechanism are respectively connected to the first opposite side of the bottom platform through the first connecting module and the second connecting module; the third linear drive mechanism and the fourth linear drive mechanism are respectively connected to the first opposite side of the top platform through the third connecting module and the fourth connecting module. The positions of the first linear transmission mechanism and the second linear transmission mechanism intersect with the positions of the third linear transmission mechanism and the fourth linear transmission mechanism, and respectively pass through the center point of the bottom platform and the top platform. The second opposite sides of the bottom platform are connected to the first and second guide rails respectively through the fifth and sixth connection modules; the second opposite sides of the top platform are connected to the first and second guide rails respectively through the seventh and eighth connection modules. The fifth, sixth, seventh, and eighth connection modules are all connection modules III.

[0008] Preferably, the first linear transmission mechanism, the second linear transmission mechanism, the third linear transmission mechanism, and the fourth linear transmission mechanism are reciprocating lead screws arranged to rotate along the height of the frame.

[0009] Preferably, the first connection module is connection module I and the second connection module is connection module II; The first connecting module includes a first nut, a first rotating joint, and a first fixing block, wherein the first nut and the first fixing block are connected through the first rotating joint; The second connecting module includes a second nut, a second first rotating joint, a connecting rod, a second second rotating joint, and a second fixing block. One end of the second nut and the connecting rod are connected through the second first rotating joint, and the other end of the connecting rod is connected to the second fixing block through the second second rotating joint. The first nut and the second nut reciprocate linearly along the first linear transmission mechanism and the second linear transmission mechanism, respectively; the end of the first fixed block away from the first rotating joint and the end of the second fixed block away from the second rotating joint are fixedly connected to the first opposite side of the bottom platform; The axes of the first revolute joint, the second first revolute joint, and the second second revolute joint are horizontally arranged and parallel to each other.

[0010] Preferably, the first guide rail and the second guide rail are optical rods fixedly arranged along the height direction of the frame.

[0011] Preferably, the fifth connecting module includes a first slider, a first roller, a first wheel, and a first raceway; the first raceway is fixed on the bottom platform, the first slider reciprocates linearly along the first guide rail, one end of the first roller is fixedly connected to the first slider, the first wheel rotates around the other end of the first roller, and the first wheel is placed in the first raceway and rolls.

[0012] The beneficial effects of this invention are: (1) The multi-position posture controllable device provided by the present invention has one translational degree of freedom and one rotational degree of freedom in each position, realizing the vertical position and posture adjustment of the bearing platform, increasing the scope of application and application occasions.

[0013] (2) The technical solution of shared guide rail for bearing platform provided by the present invention has strong universality. In particular, when the number of bearing platforms increases, if each bearing platform uses a guide rail separately, the number of guide rails will increase. When the number increases to a certain extent, there will not be enough space to set up the guide rails. Shared guide rail saves space and cost.

[0014] (3) The bearing platform of the multi-position pose controllable device provided by the present invention can be expanded to multiple, because the guide rails are shared. When expanding, it is only necessary to select the appropriate guide rails according to the strength requirements and add connecting modules. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the multi-station pose controllable device provided by the present invention; Figure 2 This is a schematic diagram of the structure of the first connection module; Figure 3 This is a schematic diagram of the structure of the second connection module; Figure 4 This is a schematic diagram illustrating the connection method between the underlying platform and the first and second connection modules. Figure 5 This is a schematic diagram illustrating a second connection method between the underlying platform and the first and second connection modules. Figure 6 A schematic diagram illustrating the connection method between the top-level platform and the third and fourth connection modules; Figure 7 This is a schematic diagram illustrating the second connection method between the top-level platform and the third and fourth connection modules; Figure 8 This diagram illustrates the connection method between the underlying platform and the fifth and sixth connection modules. Figure 9 This is a structural diagram of the underlying platform and the fifth and sixth connection modules; Figure 10 This is a schematic diagram illustrating the attitude adjustment of the underlying platform. Figure 11 This is a schematic diagram showing the working cooperation between the first raceway and the first roller.

[0017] In the picture: 1. Frame; 2. Support platform; 3. Lifting device; 4. Connecting device; 21. Underlying platform; 22. Top-level platform; 31. First linear transmission mechanism; 32. Second linear transmission mechanism; 33. Third linear transmission mechanism; 34. Fourth linear transmission mechanism; 35. First guide rail; 36. Second guide rail; 41. First connection module; 42. Second connection module; 43. Third connection module; 44. Fourth connection module; 45. Fifth connection module; 46. Sixth connection module; 47. Seventh connection module; 48. Eighth connection module; 411. First nut; 412. First revolute joint; 413. First fixed block; 421. Second nut; 422. Second revolute joint; 423. Connecting rod; 424. Second revolute joint; 425. Second fixed block; 451. First slider; 452. First roller; 453. First roller wheel; 454. First raceway; 461. Second slider; 462. Second roller; 463. Second roller; 464. Second raceway. Detailed Implementation

[0018] To make the objectives, technical solutions, and beneficial effects of the present invention clearer, the present invention will be further described in detail below through embodiments.

[0019] The structural diagram of the multi-station pose controllable device is as follows: Figure 1 As shown, it includes a frame 1, a support platform 2, a lifting device 3, and a connecting device 4; the lifting device 3 is located on the side of the frame 1, and the support platform 2 is located inside the frame 1. The support platform 2 includes multiple platform units arranged at intervals along the height direction of the frame 1; the lifting device 3 includes a linear drive mechanism and a guide rail; the linear drive mechanism is centrally symmetrically arranged on the first opposite side of each platform unit; the positions of multiple pairs of linear drive mechanisms intersect each other; the guide rail is symmetrically arranged on the second opposite side of each platform unit, and multiple platform units share a pair of guide rails. The linear transmission mechanism is connected to the corresponding platform unit through the connecting device 4, and is used to provide the corresponding platform unit with translational and rotational degrees of freedom in the height direction of the frame 1; The guide rail is connected to the corresponding platform unit through the connecting device 4, which is used to provide translational and rotational limits in the height direction of the frame 1 for the corresponding platform unit.

[0020] The first and second opposite sides are two opposite directions in the horizontal direction of the platform unit.

[0021] In this application, "multi-station" includes two or more workstations. The specific implementation of this technical solution will now be described in detail using two workstations as an example.

[0022] The support platform 2 includes a bottom platform 21 and a top platform 22 arranged at intervals along the height direction of the frame 1; the lifting device 3 includes a first linear transmission mechanism 31, a second linear transmission mechanism 32, a third linear transmission mechanism 33, a fourth linear transmission mechanism 34, a first guide rail 35, and a second guide rail 36.

[0023] The connecting device 4 includes a first connecting module 41, a second connecting module 42, a third connecting module 43, a fourth connecting module 44, a fifth connecting module 45, a sixth connecting module 46, a seventh connecting module 47, and an eighth connecting module 48.

[0024] The first linear drive mechanism 31 and the second linear drive mechanism 32 are respectively connected to the first opposite side of the bottom platform 21 through the first connecting module 41 and the second connecting module 42; the third linear drive mechanism 33 and the fourth linear drive mechanism 34 are respectively connected to the first opposite side of the top platform 22 through the third connecting module 43 and the fourth connecting module 44. The positions of the first linear transmission mechanism 31 and the second linear transmission mechanism 32 intersect with the positions of the third linear transmission mechanism 33 and the fourth linear transmission mechanism 34, and respectively pass through the center points of the bottom platform 21 and the top platform 22.

[0025] The bottom platform 21 and the top platform 22 share the same guide rail. The second opposite sides of the bottom platform 21 are connected to the first guide rail 35 and the second guide rail 36 through the fifth connecting module 45 and the sixth connecting module 46, respectively. The second opposite sides of the top platform 22 are connected to the first guide rail 35 and the second guide rail 36 through the seventh connecting module 47 and the eighth connecting module 48, respectively.

[0026] The first linear transmission mechanism 31, the second linear transmission mechanism 32, the third linear transmission mechanism 33, and the fourth linear transmission mechanism 34 have the same structure. In this embodiment, they are lead screws, but other types, such as synchronous belts or racks, can also be used. The first guide rail 35 and the second guide rail 36 have the same structure and are responsible for guidance. They can be single, two, or multiple, meeting the requirements for stability and bending strength of the pressure rod. Sliding guide rails and rolling guide rails are both acceptable, as long as they can provide linear guidance.

[0027] The eight connecting modules in the connecting device 4 are divided into three categories: connecting module I, connecting module II, and connecting module III. The structure of connecting module I is shown in the figure. Figure 2 As shown, it includes a revolute joint, such as the first connecting module 41; the structural diagram of connecting module II is shown in the figure. Figure 3 As shown, it includes two revolute joints, such as the second connecting module 42; the structural diagram of connecting module III is shown in the figure. Figure 8 and Figure 9 As shown, there are the fifth connecting module 45, the sixth connecting module 46, the seventh connecting module 47, and the eighth connecting module 48. The structure of the first connecting module 41, the second connecting module 42, and the fifth connecting module 45 will be described below.

[0028] like Figure 2 As shown, the first connecting module 41 includes a first nut 411, a first rotating joint 412, and a first fixing block 413. The first nut 411 and the first fixing block 413 are connected through the first rotating joint 412. Figure 3 As shown, the second connecting module 42 includes a second nut 421, a second first rotating joint 422, a connecting rod 423, a second second rotating joint 424, and a second fixing block 425. One end of the second nut 421 and one end of the connecting rod 423 are connected via the second first rotating joint 422, and the other end of the connecting rod 423 is connected to the second fixing block 425 via the second second rotating joint 424. Figure 1 and Figure 4 As shown, the first nut 411 and the second nut 421 reciprocate linearly along the first linear transmission mechanism 31 and the second linear transmission mechanism 32, respectively; the end of the first fixed block 413 away from the first rotating joint 412 and the end of the second fixed block 425 away from the second rotating joint 424 are fixedly connected to the first opposite side of the bottom platform 21; the axes of the first rotating joint 412, the second rotating joint 422, and the second rotating joint 424 are horizontally arranged and parallel to each other.

[0029] Alternatively, Figure 5As shown, the first linear transmission mechanism 31 and the second linear transmission mechanism 32 are connected to the first opposite sides of the bottom platform 21 via the second connecting module 42 and the first connecting module 41, respectively. When the heights of the first connecting module 41 and the second connecting module 42 are different, the bottom platform 21 will have a tilt angle. Therefore, the bottom platform 21 has one rotational degree of freedom and one vertical translational degree of freedom, and the axis of rotation is parallel to the axis of rotation of the first revolute joint 412.

[0030] It should be noted that, Figure 4 The two dashed circles are used to clearly indicate that the part inside the circle belongs to the first connecting module 41 and the second connecting module 42. Figures 5 to 8 The dashed circle in the middle serves a similar purpose.

[0031] The third connection module 43 and the fourth connection module 44 are connected to the top platform 22. One of them has the same structure as the first connection module 41, and the other has the same structure as the second connection module 42. The axes of the three rotating pairs contained in the third connection module 43 and the fourth connection module 44 are horizontally arranged and parallel to each other.

[0032] like Figure 5 and Figure 6 As shown, the third connecting module 43 and the first connecting module 41 have the same structure, and the fourth connecting module 44 and the second connecting module 42 have the same structure. If using... Figure 6 As shown, the third linear drive mechanism 33 and the fourth linear drive mechanism 34 are respectively connected to the first opposite sides of the top platform 22 via the third connecting module 43 and the fourth connecting module 44. If adopted... Figure 7 As shown, the third linear drive mechanism 33 and the fourth linear drive mechanism 34 are connected to the first opposite sides of the top platform 22 via the fourth connecting module 44 and the third connecting module 43, respectively. When the heights of the third connecting module 43 and the fourth connecting module 44 are different, the top platform 22 will have a tilt angle. Therefore, the top platform 22 has one rotational degree of freedom and one vertical translational degree of freedom, similar to the bottom platform 21.

[0033] Figure 1 In the frame 1, the first linear drive mechanism 31, the second linear drive mechanism 32, the third linear drive mechanism 33, and the fourth linear drive mechanism 34 are arranged to rotate along the height direction of the frame 1 and do not interfere with each other, and the first connecting module 41, the second connecting module 42, the third connecting module 43, and the fourth connecting module 44 are connected.

[0034] The first linear transmission mechanism 31, the second linear transmission mechanism 32, the third linear transmission mechanism 33, and the fourth linear transmission mechanism 34 respectively drive the first connecting module 41, the second connecting module 42, the third connecting module 43, and the fourth connecting module 44 to move up or down. The first linear transmission mechanism 31, the second linear transmission mechanism 32, the third linear transmission mechanism 33, and the fourth linear transmission mechanism 34 are reciprocating lead screws. The first connecting module 41, the second connecting module 42, the third connecting module 43, and the fourth connecting module 44 contain nuts that mate with the lead screws, such as the first nut 411 and the second nut 421. The reciprocating lead screw is driven to rotate by a stepper motor or a servo motor through a coupling. Controlling the direction of the motor controls the raising or lowering of the nuts in the connecting modules.

[0035] The first guide rail 35 and the second guide rail 36 are optical rods fixedly arranged along the height direction of the frame 1.

[0036] like Figure 8 and Figure 9 As shown, the fifth connecting module 45 includes a first slider 451, a first roller 452, a first roller 453, and a first raceway 454. The first raceway 454 is fixed on the bottom platform 21. The first slider 451 reciprocates linearly along the first guide rail 35. One end of the first roller 452 is fixedly connected to the first slider 451. The first roller 453 rotates around the other end of the first roller 452 and is placed in the first raceway 454 and rolls. The fifth connecting module 45, the sixth connecting module 46, the seventh connecting module 47, and the eighth connecting module 48 have the same structure. The sixth connecting module 46 includes a second slider 461, a second roller 462, a second roller 463, and a second raceway 464, as shown. Figure 8 and Figure 9 As shown.

[0037] Figure 10 The diagram shows the attitude adjustment of the bottom platform 21. The attitude of the bottom platform 21, i.e., the tilt angle, depends on the height difference between the first nut 411 and the second nut 421. When the height difference is constant, the synchronous rise or fall of the two nuts does not affect the attitude of the bottom platform 21, but only affects the vertical height of the bottom platform 21.

[0038] Figure 10 In the figure, the first nut 411 in the first connecting module 41 is in the position shown; the upper and lower limit positions of the second nut 421 in the second connecting module 42 are as shown. Figure 10 Positions F and G, as shown, represent the maximum extension limit of the second connecting module 42. Assuming the height of the first nut 411 remains constant, and the second nut 421 moves from position F to position G, the center point of symmetry of the first raceway 454 is as follows: Figure 9The trajectory of point O shown in the M-direction view is projected onto the K-direction as follows: Figure 10 and Figure 11 The arc DE shown corresponds to the center C of the circle. Figure 9 The projection of the rotation axis L1 of the first revolute joint 412 shown in the K direction.

[0039] The attitude of the bottom platform 21 and the angle α between the two extreme attitudes a and g are as follows: Figure 10 and Figure 11 As shown. Figure 11 The image only shows seven postures of the first raceway 454, which also correspond to seven postures of the underlying platform 21. Postures a and g are two extreme postures, and posture d corresponds to the horizontal position of the underlying platform 21. In postures a, b, and c, the height of the second nut 421 is higher than that of the first nut 411; in postures e, f, and g, the height of the second nut 421 is lower than that of the first nut 411. As the platform changes from posture a to posture g, the first roller 453 rolls along the first raceway 454 towards the end closer to the second connecting module 41, near the end of the first raceway 454. When posture d is reached, the first roller 453 is at the extreme position at the other end of the first raceway 454, that is, the end near the first connecting module 41. Figure 11 As shown in position d, the bottom platform 21 is horizontal at this point; after position d, the first roller 453 rolls in the opposite direction, and when it reaches the limit posture g, the first roller 453 is at the end of the first raceway 454 near the end of the second connecting module 42. Figure 10 and Figure 11 As shown, the orientation of the bottom platform 21, i.e. the angle of tilt, depends only on the height difference between the first nut 411 and the second nut 421.

[0040] Depend on Figure 9 and Figure 11 As shown, the length L of the first raceway 454 and the maximum rolling distance S of the first roller 453 are different, and the difference between the two is the diameter of the first roller 453.

[0041] Figure 9 In the first connecting module 41, the rotation axis L1 of the first revolute joint 412, the rotation axis L2 of the second revolute joint 422, and the rotation axis L3 of the second revolute joint 424 are all parallel to each other. The bottom platform 21 has one translational degree of freedom in the vertical direction and one rotational degree of freedom about L1.

[0042] Figure 8 , 9 10 and 11 are related to Figure 4 The given connection method corresponds to this. Figure 5The connection method shown is simply that the first connection module 41 and the second connection module 42 are interchanged, with no substantial difference.

[0043] Figure 6 The top-level platform 22 is connected in a specific way, and the attitude adjustment method and connection structure with the bottom-level platform 21 are shown below. Figure 8 , 9 The illustrations for 10 and 11 also apply, except that the first linear transmission mechanism 31, the second linear transmission mechanism 32, the first connecting module 41, and the second connecting module 42 are replaced by the third linear transmission mechanism 33, the fourth linear transmission mechanism 34, the third connecting module 43, and the fourth connecting module 44; and the fifth connecting module 45 and the sixth connecting module 46 are replaced by the seventh connecting module 47 and the eighth connecting module 48. Figure 7 The connection method shown is simply that the third connection module 43 and the fourth connection module 44 are interchanged, with no substantial difference. The degree of freedom of the top-level platform 22 is the same as that of the bottom-level platform 21.

[0044] In summary, both the bottom platform 21 and the top platform 22 have one rotational degree of freedom and one vertical translational degree of freedom.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, or alterations made by those skilled in the art using the above-described technical content shall fall within the protection scope of the present invention.

Claims

1. A multi-station pose-controllable device, characterized in that, The device comprises a rack (1), a bearing platform (2), a lifting device (3) and a connecting device (4); the lifting device (3) is arranged on the side of the rack (1), and the bearing platform (2) is arranged in the interior of the rack (1); The bearing platform (2) comprises a plurality of platform units arranged at intervals along the height direction of the rack (1); the lifting device (3) comprises a linear transmission mechanism and a guide rail; the linear transmission mechanism is arranged symmetrically at the first pair of sides of each platform unit; the setting directions of the linear transmission mechanisms are crossed with each other; the guide rail is arranged symmetrically at the second pair of sides of each platform unit, and a pair of guide rails are shared by the plurality of platform units; The linear transmission mechanism is connected to the corresponding platform unit through the connecting device (4) to provide the corresponding platform unit with translational freedom and rotational freedom in the height direction of the rack (1); The guide rail is connected to the corresponding platform unit through the connecting device (4) to provide the corresponding platform unit with translational limit and rotational limit in the height direction of the rack (1).

2. The multi-station pose controllable device of claim 1, wherein, The connecting device (4) comprises three types of connecting modules I, II and III; The linear transmission mechanism is connected to the first pair of sides of the platform unit through the connecting modules I and II to provide the corresponding platform unit with translational freedom and rotational freedom in the height direction of the rack (1); The second pair of sides of the platform unit are connected to the guide rail at the corresponding position through the connecting module III to provide the corresponding platform unit with translational limit and rotational limit in the height direction of the rack (1).

3. The multi-station pose controllable device of claim 2, wherein, The bearing platform (2) comprises a bottom layer platform (21) and a top layer platform (22) arranged at intervals along the height direction of the rack (1).

4. The multi-station pose controllable device of claim 3, wherein, The lifting device (3) comprises a first linear transmission mechanism (31), a second linear transmission mechanism (32), a third linear transmission mechanism (33), a fourth linear transmission mechanism (34), a first guide rail (35) and a second guide rail (36); The connecting device (4) comprises a first connecting module (41), a second connecting module (42), a third connecting module (43), a fourth connecting module (44), a fifth connecting module (45), a sixth connecting module (46), a seventh connecting module (47) and an eighth connecting module (48); The first linear transmission mechanism (31) and the second linear transmission mechanism (32) are connected to the first pair of sides of the bottom layer platform (21) through the first connecting module (41) and the second connecting module (42) respectively; the third linear transmission mechanism (33) and the fourth linear transmission mechanism (34) are connected to the first pair of sides of the top layer platform (22) through the third connecting module (43) and the fourth connecting module (44) respectively; The setting directions of the first linear transmission mechanism (31) and the second linear transmission mechanism (32) and the setting directions of the third linear transmission mechanism (33) and the fourth linear transmission mechanism (34) are crossed with each other, and the center points of the bottom layer platform (21) and the top layer platform (22) are passed through respectively; The second pair of sides of the bottom layer platform (21) are connected with the first guide rail (35) and the second guide rail (36) through a fifth connecting module (45) and a sixth connecting module (46) respectively; the second pair of sides of the top layer platform (22) are connected with the first guide rail (35) and the second guide rail (36) through a seventh connecting module (47) and an eighth connecting module (48) respectively; The fifth connecting module (45), the sixth connecting module (46), the seventh connecting module (47) and the eighth connecting module (48) are all connecting module III.

5. The multi-station pose controllable device of claim 4, wherein, The first linear transmission mechanism (31), the second linear transmission mechanism (32), the third linear transmission mechanism (33) and the fourth linear transmission mechanism (34) are reciprocating screws arranged along the height direction of the rack (1).

6. The multi-station pose controllable device of claim 5, wherein, The first connecting module (41) is connecting module I and the second connecting module (42) is connecting module II. The first connecting module (41) comprises a first nut (411), a first rotary pair (412) and a first fixed block (413), and the first nut (411) and the first fixed block (413) are connected through the first rotary pair (412); The second connecting module (42) comprises a second nut (421), a second rotary pair (422), a connecting rod (423), a second rotary pair (424) and a second fixed block (425), the second nut (421) and one end of the connecting rod (423) are connected through the second rotary pair (422), the other end of the connecting rod (423) and the second fixed block (425) are connected through the second rotary pair (424); The first nut (411) and the second nut (421) make linear reciprocating motion along the first linear transmission mechanism (31) and the second linear transmission mechanism (32) respectively; one end of the first fixed block (413) away from the first rotary pair (412) and one end of the second fixed block (425) away from the second rotary pair (424) are fixedly connected to the first pair of sides of the bottom layer platform (21); The axes of the first rotary pair (412), the second rotary pair (422) and the second rotary pair (424) are horizontally arranged and parallel to each other.

7. The multi-station pose controllable device of claim 4, wherein, The first guide rail (35) and the second guide rail (36) are light poles fixedly arranged along the height direction of the rack (1).

8. The multi-station pose controllable device of claim 7, wherein, The fifth connecting module (45) comprises a first sliding block (451), a first roller shaft (452), a first roller (453) and a first rolling way (454); the first rolling way (454) is fixed on the bottom layer platform (21), the first sliding block (451) makes linear reciprocating motion along the first guide rail (35), one end of the first roller shaft (452) is fixedly connected with the first sliding block (451), the first roller (453) rotates around the other end of the first roller shaft (452), and the first roller (453) is placed in the first rolling way (454) and rolls.

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